CN112782736A - Firefighter positioning method and device and terminal equipment - Google Patents
Firefighter positioning method and device and terminal equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/17—Emergency applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
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Abstract
The application is suitable for the technical field of fire fighting and provides a method and a device for positioning firefighters and terminal equipment. The firefighter positioning method comprises the following steps: determining preliminary positions of at least three external base stations located outside the target space based on the satellite positioning, and determining first distances between every two of the at least three external base stations based on the preliminary positions; determining a second distance between every two of the at least three external base stations according to the transmission time of the first ranging signal between every two of the at least three external base stations; correcting the initial positions of the external base stations based on the first distance and the second distance to obtain second positions of the external base stations; and positioning the terminal positioned in the target space based on the second position of the external base station. According to the firefighter positioning method, the external base station can be quickly arranged outside the target space in an emergency, and the terminal in the target space is accurately positioned based on the external base station, so that effective protection measures can be provided for firefighters.
Description
Technical Field
The application belongs to the technical field of fire fighting, and particularly relates to a method and a device for positioning firefighters and terminal equipment.
Background
The fire safety problem is more and more emphasized by all relevant departments, and mandatory fire prevention equipment is required in enterprises, residential districts, public places and other areas. The fire-fighting forces are responsible for fire-fighting and emergency rescue tasks, and in order to perform the duty better, the construction of a rescue system is continuously improved, and the communication system plays a vital role in fire-fighting and rescue.
In the fire-fighting and fire-extinguishing rescue scene, the safety problem of firefighters is a main problem in fire fighting. And the fire fighters frequently hurt or even are in distress sometimes in the fire extinguishing and emergency rescue work, except for the field uncontrollable factors, the traditional method for positioning the fire fighters has lower positioning precision and can not accurately position the positions of the fire fighters, so that the fire fighters can not be subjected to more effective protection measures.
Disclosure of Invention
Based on the above problems, the embodiment of the application provides a firefighter positioning method, a firefighter positioning device and terminal equipment.
In a first aspect, an embodiment of the present application provides a method for locating a firefighter, including:
determining preliminary positions of at least three external base stations located outside a target space based on satellite positioning, and determining first distances between every two of the at least three external base stations based on the preliminary positions;
determining a second distance between each two of the at least three external base stations according to the transmission time of the first ranging signal between each two of the at least three external base stations;
correcting the preliminary position of each external base station based on the first distance and the second distance to obtain a second position of the external base station;
positioning a terminal located in a target space based on a second position of the external base station; wherein, the terminal is a terminal carried by firefighters.
In a possible implementation manner of the first aspect, the determining, according to a transmission time of a first ranging signal between two of the at least three external base stations, a second distance between two of the at least three external base stations includes:
determining a second distance between the two external base stations based on a first time when the first ranging signal is broadcasted by the first external base station, a second time when the second external base station receives the first ranging signal, a third time when the second external base station sends a first response signal based on the first ranging signal and a fourth time when the first external base station receives the first response signal, and combining signal transmission speeds;
the first external base station is any one of the at least three external base stations, and the second external base station is an external base station of the at least three external base stations except the first external base station.
In a possible implementation manner of the first aspect, the correcting the preliminary position of each external base station based on the first distance and the second distance to obtain the second position of the external base station includes:
and after the first distance and the second distance between any two external base stations are determined, correcting the preliminary position according to the difference value of the corresponding first distance and the second distance to obtain the second position of each external base station.
In one possible implementation of the first aspect, the preliminary location includes a first longitude, a first latitude, and a first altitude; the correcting the preliminary position according to the difference between the corresponding first distance and second distance includes:
determining a correction coefficient according to an average value of differences between a first distance and a second distance between any two external base stations;
and respectively correcting the first longitude, the first latitude and the first altitude in the initial position according to the correction coefficient to obtain the second position.
Illustratively, the first distances between each two external base stations are Di, the corresponding second distances are Si, i is 1,2, …, and N, and the correction coefficient is
After the correction coefficient δ is obtained, the preliminary position of the external base station may be corrected by the correction coefficient δ.
In a possible implementation manner of the first aspect, the locating a terminal located in a target space based on the second location of the external base station includes:
the external base station broadcasts a second ranging signal and receives a second response signal which is sent by the terminal and is based on the second ranging signal;
determining a distance between the terminal and the external base station based on the second ranging signal and the second response signal;
determining a current location of the terminal based on a distance between the terminal and the external base station and a second location of the external base station.
In a possible implementation manner of the first aspect, the second response signal includes a fifth time when the external base station broadcasts the second ranging signal, an external base station identifier, a sixth time when the terminal receives the second ranging signal, and a seventh time when the terminal sends the second response signal;
the determining a distance between the terminal and the external base station based on the second ranging signal and the second response signal includes:
and determining the distance from the terminal to the external base station corresponding to the external base station identification based on the fifth time, the sixth time, the seventh time and the eighth time when the external base station receives the second response signal in the second response signal.
In a possible implementation manner of the first aspect, the determining the current location of the terminal based on the distance between the terminal and the external base station and the second location of the external base station includes:
calculating distances between the respective external base stations based on the second positions of the external base stations;
and determining the current position of the terminal based on the second position of each external base station, the distance between the terminal and each external base station and the distance between each external base station.
In a second aspect, an embodiment of the present application provides a firefighter positioning device, including:
the first distance determination module is used for determining preliminary positions of at least three external base stations outside a target space based on satellite positioning and determining first distances between every two external base stations in the at least three external base stations based on the preliminary positions;
a second distance determining module, configured to determine a second distance between each two of the at least three external base stations according to transmission time of a first ranging signal between each two of the at least three external base stations;
an external base station position determining module, configured to correct the preliminary position of each external base station based on the first distance and the second distance to obtain a second position of the external base station;
a terminal positioning module, configured to position a terminal located in a target space based on a second position of the external base station; wherein, the terminal is a terminal carried by firefighters.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, implements the firefighter location method according to any one of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for locating a firefighter according to any one of the first aspect described above is implemented.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the firefighter location method according to any one of the first aspect.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that:
according to the method, the initial positions of at least three external base stations outside a target space are determined based on satellite positioning, and the first distances between every two external base stations are determined based on the initial positions of the external base stations; determining a second distance between every two of the at least three external base stations according to the transmission time of the first ranging signal between every two of the at least three external base stations; correcting the initial positions of the external base stations based on the first distance and the second distance to obtain second positions of the external base stations; the terminal in the target space is positioned at the second position based on the external base station, the external base station can be quickly arranged outside the target space in emergency, and the terminal in the target space is accurately positioned based on the external base station, so that effective protective measures can be implemented for fire fighters or rescue workers, and the system architecture is simple and convenient to implement.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart diagram illustrating a method for locating a firefighter according to an embodiment of the present disclosure;
fig. 2 is a schematic view of an application scenario of external base station positioning according to an embodiment of the present application;
FIG. 3 is a schematic flow chart diagram illustrating a method for locating a firefighter according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of information interaction between an external base station and a terminal according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a scenario of a firefighter location method according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a firefighter positioning device according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a firefighter positioning device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a terminal device provided in an embodiment of the present application;
fig. 9 is a schematic structural diagram of a mobile phone to which the firefighter location method provided in the embodiment of the present application is applied.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The method for positioning the fire fighters in the prior art is low in positioning precision and incapable of accurately positioning the fire fighters, so that more effective protective measures cannot be taken for the fire fighters.
Specifically, the preliminary position of the external base station outside the target space is determined based on a satellite positioning mode, so that a first distance is obtained, a second distance between every two external base stations is determined based on signal transmission between the external base stations, then the preliminary position of each external base station is corrected based on the first distance and the second distance, so that the accurate position of the external base station is obtained, and then the terminal located in the target space is positioned according to the accurate position.
The embodiment of the application can rapidly set the external base station outside the target space in emergency, and accurately position the terminal in the target space based on the external base station, so that the position of a fire fighter can be accurately positioned in emergency, effective protective measures are implemented for the fire fighter or the person needing rescue, and the system architecture is simple and convenient to realize.
The firefighter location method of the present application is described in detail below.
Fig. 1 is a schematic flow chart of a firefighter location method provided in an embodiment of the present application, and with reference to fig. 1, the firefighter location method is described in detail as follows:
in step 101, preliminary positions of at least three external base stations located outside the target space are determined based on the satellite positioning, and first distances between two of the at least three external base stations are determined based on the preliminary positions.
The external base stations are arranged outside the target space, can be respectively arranged at any position in the periphery of the target space, and can be used for positioning the terminal in the target space; each external base station may or may not be located on a horizontal plane, which is not limited in this respect. In this embodiment, the external base stations are not located on the same horizontal plane.
Illustratively, the target space may be an indoor space or an outdoor space which needs to be subjected to fire rescue, such as a residential building, an office building, a public place and the like.
In this step, the preliminary positions of the at least three external base stations may be determined by one or more of a COMPASS satellite positioning system (COMPASS), a Global Positioning System (GPS), a GALILEO satellite positioning system (GALILEO), and a GLONASS satellite positioning system (GLONASS). For example, the preliminary location may include a longitude, latitude, and altitude at which the external base station is located. In the embodiment of the present application, a Beidou satellite positioning system is taken as an example for explanation, but not limited thereto.
In one possible implementation, the preliminary location may include a longitude, latitude, and altitude; correspondingly, after the initial positions of at least three external base stations are determined, the first distance between any two external base stations can be calculated according to the longitude, the latitude and the altitude of the initial positions of any two external base stations.
It should be noted that the external base station in the embodiment of the present application needs to include a satellite positioning module corresponding to a satellite positioning system and a communication module for communicating with other external base stations.
In step 102, a second distance between each two of the at least three external base stations is determined according to a transmission time of a first ranging signal between each two of the at least three external base stations.
The second distance between the two external base stations is determined by combining the transmission time of the signal between the two external base stations and the transmission speed of the signal.
In some embodiments, the distance from the terminal to the predetermined base station may be determined using an Ultra-wideband (UWB) signal, which is a communication technology that transmits data using nanosecond non-sinusoidal narrow pulse signals. The UWB signal has the characteristics of short pulse interval and high time resolution, so that the ranging precision of centimeter level can be achieved by ranging through the UWB signal. In addition, the UWB signal has good robustness and penetration capacity to multi-path effect, and has great advantage in the indoor wireless positioning scene with dense obstacles.
In one possible implementation, step 102 may include:
determining a second distance between the two external base stations based on a first time when the first ranging signal is broadcasted by the first external base station, a second time when the second external base station receives the first ranging signal, a third time when the second external base station sends a first response signal based on the first ranging signal and a fourth time when the first external base station receives the first response signal, and combining signal transmission speeds;
the first external base station is any one of the at least three external base stations, and the second external base station is an external base station of the at least three external base stations except the first external base station.
Specifically, the procedure of signal transmission between the first external base station and the second external base station may include:
the first external base station broadcasts a first ranging signal, wherein the first ranging signal can comprise a first time when the first external base station broadcasts the first ranging signal and a network address of the first external base station;
any second external base station may receive the first ranging signal, generate a corresponding first response signal, and send the corresponding first response signal to the first external base station according to the network address of the first external base station, where the first response signal may include the first time, the second time, the third time, and an identifier of the second external base station;
after receiving a first ranging signal, a first external base station extracts first time, second time, third time and a second external base station identifier in the first ranging signal, determines a second external base station corresponding to the first ranging signal according to the second external base station identifier, and determines a second distance between the second external base station and the first external base station according to the first time, the second time, the third time and a fourth time when the first ranging signal is received and by combining the signal transmission speed.
Illustratively, the first external base station may be according to S1i＝c×[(Ti4-Ti1)-(Ti3-Ti2)]Calculating a second distance from the first external base station to each second external base station;
wherein, S1iIs the second distance from the first external base station to the second external base station i, c is the propagation speed of the signal between the first external base station and each second external base station i (the propagation speeds of the second ranging signal and the second response signal are the same), Ti4At a fourth time, Ti1At a first time, Ti3At a third time, Ti2Is the second time.
In some embodiments, the first time, the second time, the third time, the fourth time, and the external base station identifier may all be carried in the second response signal, and the first external base station only needs to extract the first time, the second time, the third time, the fourth time, and the external base station identifier from the received second response signal to determine the second distance.
In step 103, the preliminary position of each external base station is corrected based on the first distance and the second distance, so as to obtain a second position of the external base station.
In this step, the first distance determined by the satellite positioning method is compared with the second distance determined by signal transmission between the external base stations, so that the preliminary position determined by the satellite positioning method is corrected, and the positioning accuracy of the external base stations can be further improved.
In one possible implementation, step 103 may include:
and after the first distance and the second distance between any two external base stations are determined, correcting the preliminary position according to the difference value of the corresponding first distance and the second distance to obtain the second position of each external base station.
Illustratively, the preliminary location may include a first longitude, a first latitude, and a first altitude; the correcting the preliminary position according to the difference between the corresponding first distance and second distance may include:
determining a correction coefficient according to an average value of differences between a first distance and a second distance between any two external base stations;
and respectively correcting the first longitude, the first latitude and the first altitude in the initial position according to the correction coefficient to obtain the second position.
Referring to fig. 2, a schematic diagram of an application environment for determining a second location of an external base station is shown. Specifically, 4 external base stations are taken as an example for explanation, but the invention is not limited to this. An external base station 1, an external base station 2, an external base station 3 and an external base station 4 are arranged outside the target space, the four external base stations can be respectively arranged at any position around the target space, and the four external base stations are not positioned on the same horizontal plane.
Specifically, the first distances between every two four external base stations are Di, the corresponding second distances are Si, i is 1,2, …, and 6, and the correction coefficient is
After the correction coefficient δ is obtained, the preliminary position of the external base station may be corrected by the correction coefficient δ.
For example, the longitude of the external base station may be corrected by a correction coefficient δ, the latitude of the external base station may be corrected by a correction coefficient δ, and the altitude of the external base station may be corrected by a correction coefficient δ, thereby obtaining the second position of the external base station. Specifically, the longitude, latitude, and altitude in the primary position of the external base station may be respectively summed with the correction coefficient δ as the longitude, latitude, and altitude in the secondary position of the external base station.
In step 104, the terminal located in the target space is located based on the second position of the external base station.
The terminal is a terminal carried by a fire fighter, and the terminal includes, but is not limited to, a mobile phone, a tablet computer, a wearable device, an Augmented Reality (AR)/Virtual Reality (VR) device, a notebook computer, a Personal Digital Assistant (PDA), and the like.
Referring to fig. 3 and 4, in some embodiments, based on the embodiment shown in fig. 1, the positioning the terminal located in the target space based on the second position of the external base station may include:
in step 1041, the external base station broadcasts a second ranging signal and receives a second response signal based on the second ranging signal sent by the terminal.
The second ranging signal may include a fifth time when the external base station broadcasts the second ranging signal and a network address of the external base station. And after receiving the second ranging signal, the terminal generates a corresponding second response signal and sends the second response signal to the corresponding external base station according to the network address of the external base station, wherein the second response signal may include the fifth time, the sixth time when the terminal receives the second ranging signal, the sixth time when the terminal sends the second response signal, and the terminal identifier.
In step 1042, a distance between the terminal and the external base station is determined based on the second ranging signal and the second response signal.
Illustratively, the second response signal includes a fifth time when the external base station broadcasts the second ranging signal, an external base station identifier, a sixth time when the terminal receives the second ranging signal, and a seventh time when the terminal transmits the second response signal.
Wherein the determining the distance between the terminal and the external base station based on the second ranging signal and the second response signal may include:
and determining the distance from the terminal to the external base station corresponding to the external base station identification based on the fifth time, the sixth time, the seventh time and the eighth time when the external base station receives the second response signal in the second response signal.
Illustratively, the external base station i may be according to S2i＝c×[(Ti8-Ti5)-(Ti7-Ti6)]Calculating the distance from an external base station i to a terminal;
wherein, S2iIs the distance from the external base station i to the terminal, c is the propagation speed of the signal between the external base station i and the terminal, Ti5At a fourth time, Ti6Is the sixth time, Ti7At a seventh time, Ti8Is the eighth time.
After each external base station performs steps 1041 and 1042, the distance from each external base station to the terminal is obtained.
In step 1043, a current location of the terminal is determined based on a distance between the terminal and the external base station and the second location of the external base station.
In some embodiments, the determining the current location of the terminal based on the distance between the terminal and the external base station and the second location of the external base station may include:
calculating distances between the respective external base stations based on the second positions of the external base stations;
and determining the current position of the terminal based on the second position of each external base station, the distance between the terminal and each external base station and the distance between each external base station.
For example, referring to fig. 5, three external base stations are Ro, Rx, and Ry, respectively, external base stationsRo is an origin, a connecting line of the external base station Ro and the external base station Rx is an x axis, a connecting line of the external base station Ro and the external base station Ry is a y axis, and a vertical direction of the external base station Ro and the y axis is a z axis to establish coordinate axes, and the distance l between the external base station Ro and the external base station Rx can be calculated according to position coordinates of second positions of the three external base stationsoxThe distance between the external base station Ro and the external base station Ry is loy。
Specifically, the second positions of the external base stations Ro, Rx, and Ry may include longitude, latitude, and altitude, and after the external base station Ro is set as the origin, the position coordinates of the external base station Ro are (0,0,0), and the longitude, latitude, and altitude of the external base station Rx may be converted into the position coordinates based on the position coordinates of the external base station Ro, and the longitude, latitude, and altitude of the external base station Ry may be converted into the position coordinates; then, the distance l between the external base station Ro and the external base station Rx is calculated according to the position coordinates of the external base stations Ro, Rx and RyoxDistance l between external base station Ro and external base station Ryoy。
In this embodiment, three external base stations are taken as an example to define the process of the location of the preset base station, but not limited thereto, and based on the following description, those skilled in the art can determine the location of the preset base station based on four or more external base stations.
Setting the distance from the external base station Ro to the terminal as doThe distance from the external base station Rx to the terminal is dxThe distance from the external base station Ry to the terminal is dyAnd the position of the terminal in the coordinate system is (x, y, z), and then the distance l between the preset base station Ro and the preset base station Rx is combinedoxAnd the distance l between the preset base station Ro and the preset base station RyoyThen there is
From this, the position (x, y, z) of the terminal can be derived as:
the position of the terminal is obtained, wherein after each terminal performs steps 1041 and 1043, the position of each terminal can be obtained.
In addition, step 104 may also set a plurality of preset base stations in the target space in advance, determine the positions of the preset base stations through the external base station, and then determine the position of the terminal according to the positions of the preset base stations.
The method for determining the position of the preset base station through the external base station may include the following steps:
in step a1, the distances from any one of the preset base stations to at least three external base stations are obtained.
In this step, distances from any one of the preset base stations to at least three external base stations may be determined according to signal transmission time and signal transmission speed between the preset base stations and the external base stations.
In step B1, the location of each of the preset base stations is determined based on the second locations of the at least three external base stations.
Specifically, the determining the position of each preset base station based on the second positions of the at least three external base stations in step B1 may include:
in step B11, distances between the three external base stations are calculated based on the second positions of the three external base stations.
In step B12, the position of each preset base station is determined based on the second positions of the three external base stations, the distances of the preset base station from the three external base stations, and the distances between the three external base stations.
After obtaining the positions of the preset base stations, the process of determining the positions of the terminals located in the target space according to the positions of the preset base stations may refer to the above steps B11 and B12, and will not be described in detail herein.
In other embodiments, the terminal may broadcast the second ranging signal in real time, the range detection signal may be received by each external base station, the external base station generates the second response signal and returns the second response signal to the terminal, and the terminal receives the second response signal sent by each external base station to determine the location of the terminal.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 6 shows a block diagram of a fire fighter locating device provided in the embodiment of the present application, corresponding to the fire fighter locating method described in the above embodiment, and only the parts related to the embodiment of the present application are shown for convenience of explanation.
Referring to fig. 6, the firefighter locating device in the embodiment of the present application may include a first distance determination module 201, a second distance determination module 202, an external base station position determination module 203, and a terminal locating module 204.
Specifically, the first distance determining module 201 is configured to determine preliminary positions of at least three external base stations located outside the target space based on satellite positioning, and determine first distances between two external base stations of the at least three external base stations based on the preliminary positions;
a second distance determining module 202, configured to determine a second distance between each two of the at least three external base stations according to transmission time of a first ranging signal between each two of the at least three external base stations;
an external base station location determining module 203, configured to correct the preliminary location of each external base station based on the first distance and the second distance, so as to obtain a second location of the external base station;
a terminal positioning module 204, configured to position a terminal located in a target space based on the second position of the external base station; wherein, the terminal is a terminal carried by firefighters.
Optionally, the second distance determining module 202 is specifically configured to:
determining a second distance between the two external base stations based on a first time when the first ranging signal is broadcasted by the first external base station, a second time when the second external base station receives the first ranging signal, a third time when the second external base station sends a first response signal based on the first ranging signal and a fourth time when the first external base station receives the first response signal, and combining signal transmission speeds;
the first external base station is any one of the at least three external base stations, and the second external base station is an external base station of the at least three external base stations except the first external base station.
Optionally, the external base station location determining module 203 is specifically configured to:
and after the first distance and the second distance between any two external base stations are determined, correcting the preliminary position according to the difference value of the corresponding first distance and the second distance to obtain the second position of each external base station.
Optionally, the preliminary location includes a first longitude, a first latitude, and a first altitude; the external base station location determining module 203 is specifically configured to:
determining a correction coefficient according to an average value of differences between a first distance and a second distance between any two external base stations;
and respectively correcting the first longitude, the first latitude and the first altitude in the initial position according to the correction coefficient to obtain the second position.
Optionally, referring to fig. 7, the terminal positioning module 204 may include:
a ranging unit 2041, configured to broadcast a second ranging signal through the external base station, and receive a second response signal sent by the terminal and based on the second ranging signal;
a distance determining unit 2042, configured to determine a distance between the terminal and the external base station based on the second ranging signal and the second response signal;
a position determining unit 2043, configured to determine a current position of the terminal based on a distance between the terminal and the external base station and the second position of the external base station.
Optionally, the second response signal includes a fifth time when the external base station broadcasts the second ranging signal, an external base station identifier, a sixth time when the terminal receives the second ranging signal, and a seventh time when the terminal sends the second response signal;
and determining the distance from the terminal to the external base station corresponding to the external base station identification based on the fifth time, the sixth time, the seventh time and the eighth time when the external base station receives the second response signal in the second response signal.
Optionally, the position determining unit 2043 is specifically configured to:
calculating distances between the respective external base stations based on the second positions of the external base stations;
and determining the current position of the terminal based on the second position of each external base station, the distance between the terminal and each external base station and the distance between each external base station.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
An embodiment of the present application further provides a terminal device, and referring to fig. 8, the terminal device 300 may include: at least one processor 310, a memory 320, and a computer program stored in the memory 320 and executable on the at least one processor 310, the processor 310 implementing the steps of any of the various method embodiments described above when executing the computer program.
The firefighter positioning method provided by the embodiment of the application can be applied to mobile phones, tablet computers, wearable devices, vehicle-mounted devices, Augmented Reality (AR)/Virtual Reality (VR) devices, notebook computers, ultra-mobile personal computers (UMPCs), netbooks, Personal Digital Assistants (PDAs) and other terminal devices, and the embodiment of the application does not limit the specific types of the terminal devices at all.
For example, the terminal device may be a Station (ST) in a WLAN, which may be a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA) device, a handheld device with Wireless communication capability, a computing device or other processing device connected to a Wireless modem, a vehicle-mounted device, a vehicle-mounted networking terminal, a computer, a laptop, a handheld communication device, a handheld computing device, a satellite Wireless device, a Wireless modem card, a television set-top box (STB), a Customer Premises Equipment (CPE), and/or other devices for communicating over a Wireless system and a next generation communication system, such as a Mobile terminal in a 5G Network or a Public Land Mobile Network (future evolved, PLMN) mobile terminals in the network, etc.
By way of example and not limitation, when the terminal device is a wearable device, the wearable device may also be a generic term for intelligently designing daily wearing by applying wearable technology, developing wearable devices, such as glasses, gloves, watches, clothing, shoes, and the like. A wearable device is a portable device that is worn directly on the body or integrated into the clothing or accessories of the user. The wearable device is not only a hardware device, but also realizes powerful functions through software support, data interaction and cloud interaction. The generalized wearable intelligent device has the advantages that the generalized wearable intelligent device is complete in function and large in size, can realize complete or partial functions without depending on a smart phone, such as a smart watch or smart glasses, and only is concentrated on a certain application function, and needs to be matched with other devices such as the smart phone for use, such as various smart bracelets for monitoring physical signs, smart jewelry and the like.
Take the terminal device as a mobile phone as an example. Fig. 9 is a block diagram illustrating a partial structure of a mobile phone according to an embodiment of the present application. Referring to fig. 9, the handset includes: radio Frequency (RF) circuit 410, memory 420, input unit 430, display unit 440, sensor 450, audio circuit 460, wireless fidelity (WiFi) module 470, processor 480, and power supply 490. Those skilled in the art will appreciate that the handset configuration shown in fig. 9 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The following describes each component of the mobile phone in detail with reference to fig. 9:
the RF circuit 410 may be used for receiving and transmitting signals during information transmission and reception or during a call, and in particular, receives downlink information of a base station and then processes the received downlink information to the processor 480; in addition, the data for designing uplink is transmitted to the base station. Typically, the RF circuitry includes, but is not limited to, an antenna, at least one Amplifier, a transceiver, a coupler, a Low Noise Amplifier (LNA), a duplexer, and the like. In addition, the RF circuitry 110 may also communicate with networks and other devices via wireless communications. The wireless communication may use any communication standard or protocol, including but not limited to Global System for Mobile communication (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE)), e-mail, Short Messaging Service (SMS), and the like.
The memory 420 may be used to store software programs and modules, and the processor 480 executes various functional applications and data processing of the mobile phone by operating the software programs and modules stored in the memory 420. The memory 420 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The input unit 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the cellular phone 400. Specifically, the input unit 430 may include a touch panel 431 and other input devices 432. The touch panel 431, also called a touch screen, may collect touch operations of a user on or near the touch panel 431 (e.g., operations of the user on or near the touch panel 431 using any suitable object or accessory such as a finger or a stylus) and drive the corresponding connection device according to a preset program. Alternatively, the touch panel 431 may include two parts of a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 480, and receives and executes commands sent from the processor 480. In addition, the touch panel 431 may be implemented in various types, such as a resistive type, a capacitive type, an infrared ray, and a surface acoustic wave. The input unit 430 may include other input devices 432 in addition to the touch panel 431. In particular, other input devices 432 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.
The display unit 440 may be used to display information input by the user or information provided to the user and various menus of the cellular phone. The Display unit 440 may include a Display panel 441, and optionally, the Display panel 441 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like. Further, the touch panel 431 may cover the display panel 441, and when the touch panel 431 detects a touch operation on or near the touch panel 431, the touch panel is transmitted to the processor 480 to determine the type of the touch event, and then the processor 480 provides a corresponding visual output on the display panel 441 according to the type of the touch event. Although the touch panel 431 and the display panel 441 are shown in fig. 9 as two separate components to implement the input and output functions of the mobile phone, in some embodiments, the touch panel 431 and the display panel 441 may be integrated to implement the input and output functions of the mobile phone.
The cell phone 400 can also include at least one sensor 450, such as a light sensor, motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display panel 441 according to the brightness of ambient light, and a proximity sensor that turns off the display panel 441 and/or the backlight when the mobile phone is moved to the ear. As one of the motion sensors, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally, three axes), can detect the magnitude and direction of gravity when stationary, and can be used for applications of recognizing the posture of a mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer and tapping), and the like; as for other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which can be configured on the mobile phone, further description is omitted here.
WiFi belongs to short-distance wireless transmission technology, and the mobile phone can help a user to receive and send e-mails, browse webpages, access streaming media and the like through the WiFi module 470, and provides wireless broadband Internet access for the user. Although fig. 9 shows the WiFi module 470, it is understood that it does not belong to the essential constitution of the handset 400, and may be omitted entirely as needed within the scope not changing the essence of the invention.
The processor 480 is a control center of the mobile phone, connects various parts of the entire mobile phone by using various interfaces and lines, and performs various functions of the mobile phone and processes data by operating or executing software programs and/or modules stored in the memory 420 and calling data stored in the memory 420, thereby integrally monitoring the mobile phone. Optionally, processor 480 may include one or more processing units; preferably, the processor 480 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 480.
The handset 400 also includes a power supply 490 (e.g., a battery) for powering the various components, which may preferably be logically connected to the processor 480 via a power management system to manage charging, discharging, and power consumption via the power management system.
Although not shown, the cell phone 400 may also include a camera. Optionally, the position of the camera on the mobile phone 400 may be front-located or rear-located, which is not limited in this embodiment of the application.
Although not shown, the mobile phone 400 may further include a bluetooth module, etc., which will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method of locating a firefighter, comprising:
determining preliminary positions of at least three external base stations located outside a target space based on satellite positioning, and determining first distances between every two of the at least three external base stations based on the preliminary positions;
determining a second distance between each two of the at least three external base stations according to the transmission time of the first ranging signal between each two of the at least three external base stations;
correcting the preliminary position of each external base station based on the first distance and the second distance to obtain a second position of the external base station;
positioning a terminal located in a target space based on a second position of the external base station; wherein, the terminal is a terminal carried by firefighters.
2. A firefighter positioning method according to claim 1, wherein said determining a second distance between each of the at least three external base stations based on a transmission time of a first ranging signal between each of the at least three external base stations comprises:
determining a second distance between the two external base stations based on a first time when the first ranging signal is broadcasted by the first external base station, a second time when the second external base station receives the first ranging signal, a third time when the second external base station sends a first response signal based on the first ranging signal and a fourth time when the first external base station receives the first response signal, and combining signal transmission speeds;
the first external base station is any one of the at least three external base stations, and the second external base station is an external base station of the at least three external base stations except the first external base station.
3. A firefighter positioning method according to claim 1, wherein said correcting the preliminary location of each of the external base stations based on the first and second distances to obtain the second location of the external base station comprises:
and after the first distance and the second distance between any two external base stations are determined, correcting the preliminary position according to the difference value of the corresponding first distance and the second distance to obtain the second position of each external base station.
4. A firefighter positioning method according to claim 3, wherein the preliminary location includes a first longitude, a first latitude, and a first altitude; the correcting the preliminary position according to the difference between the corresponding first distance and second distance includes:
determining a correction coefficient according to an average value of differences between a first distance and a second distance between any two external base stations;
and respectively correcting the first longitude, the first latitude and the first altitude in the initial position according to the correction coefficient to obtain the second position.
5. A firefighter location method according to claim 1, wherein said locating a terminal located within a target space based on the second location of the external base station comprises:
the external base station broadcasts a second ranging signal and receives a second response signal which is sent by the terminal and is based on the second ranging signal;
determining a distance between the terminal and the external base station based on the second ranging signal and the second response signal;
determining a current location of the terminal based on a distance between the terminal and the external base station and a second location of the external base station.
6. A firefighter location method according to claim 5, wherein the second response signal includes a fifth time at which the external base station broadcasts the second ranging signal, an external base station identification, a sixth time at which the terminal receives the second ranging signal, a seventh time at which the terminal transmits the second response signal;
the determining a distance between the terminal and the external base station based on the second ranging signal and the second response signal includes:
and determining the distance from the terminal to the external base station corresponding to the external base station identification based on the fifth time, the sixth time, the seventh time and the eighth time when the external base station receives the second response signal in the second response signal.
7. A firefighter location method according to claim 5, wherein said determining a current location of the terminal based on the distance between the terminal and the external base station, and the second location of the external base station comprises:
calculating distances between the respective external base stations based on the second positions of the external base stations;
and determining the current position of the terminal based on the second position of each external base station, the distance between the terminal and each external base station and the distance between each external base station.
8. A firefighter positioning device, comprising:
the first distance determination module is used for determining preliminary positions of at least three external base stations outside a target space based on satellite positioning and determining first distances between every two external base stations in the at least three external base stations based on the preliminary positions;
a second distance determining module, configured to determine a second distance between each two of the at least three external base stations according to transmission time of a first ranging signal between each two of the at least three external base stations;
an external base station position determining module, configured to correct the preliminary position of each external base station based on the first distance and the second distance to obtain a second position of the external base station;
a terminal positioning module, configured to position a terminal located in a target space based on a second position of the external base station; wherein, the terminal is a terminal carried by firefighters.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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Application publication date: 20210511 |