CN116233035B - Digital fire-fighting individual communication system and data perception acquisition communication method - Google Patents
Digital fire-fighting individual communication system and data perception acquisition communication method Download PDFInfo
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Abstract
The invention discloses a digital fire-fighting individual communication system and a data perception acquisition communication method, which comprise a core communication terminal and a plurality of networking nodes, wherein the core communication terminal is assembled on a scene fire-fighting individual, and has a plurality of network communication modes, is carried by the fire-fighting individual, can be in wireless interconnection and intercommunication with one or a plurality of networking nodes nearby, and can carry out audio and video communication with scene actual combat command platform commander of other scene fire-fighting individual or scene command parts. According to the invention, the information acquisition and communication equipment are highly integrated, so that the effective fusion of the individual fire fighting system equipment is realized, the individual combat load is reduced, and the individual flexible combat advantage is better exerted; the UWB-Tag is applied to realize the position location of the UWB base station, a method for information communication exchange between two networks is established, the difficulty of position acquisition of individual firefighters in indoor and outdoor spaces, particularly in the internal combat process of complex buildings, is solved, and the individual safety protection capability of the individual firefighters in the emergency rescue process can be effectively improved.
Description
Technical Field
The invention relates to an emergency rescue technology in the field of fire rescue, in particular to a digital fire-fighting individual communication system and a data sensing acquisition communication method.
Background
According to statistics of fire rescue authorities, about 30 firefighters sacrificed in fire rescue actions in China annually are about 30 firefighters, and most of the sacrificed firefighters are young people about 20 years old. How to ensure the safety of firefighters to the maximum extent in the process of executing tasks, reduce the casualties of firefighters, and is now urgent. Among all direct causes of casualties of firefighters, bombing explosion, trapped in the way and poisoning choking are high in all causes of casualties, and main scenes of casualties of firefighters are concentrated in places such as urban high-rise super high-rise buildings, underground spaces, large-scale complexes and the like.
The life safety guarantee of the firefighters is taken as a comprehensive study subject, relates to a plurality of scientific research fields such as protective equipment, professional skill training, risk assessment and the like, and the equipment of the individual digitalized and intelligent equipment can not provide physical protection for the individual, but plays a very important role in the rescue process in the assistance of information communication, environment perception, trend prediction and the like. At present, the digital fire fighting individual equipment in China has the following defects in the aspects of intellectualization and integration: firstly, the integration level is not high, various individual equipment is only the superposition of functions due to lack of national standard or standard of industry in the integration process, direct association between different equipment does not occur, and finally the individual equipment needs to be carried in the emergency rescue process, the cable connection is complex, the operation is complex, the load of the individual equipment is increased, and the individual equipment is not beneficial to exerting the flexible action advantage of the individual equipment; secondly, the information perception capability is weaker, when disaster accidents happen in complex building sites (in the field of fire fighting and rescue, complex buildings refer to high-rise and super-high-rise, underground space, super large complexes and chemical sites in cities, rescue difficulty in such building sites is high, emergency communication guarantee is difficult, casualties and property loss are extremely easy to cause due to improper handling), the field information is complex in variety, and particularly comprises individual vital sign information, environment toxic and harmful gas information, space position information, building structure information and the like, the information changes in real time along with the progress of rescue, and the field information is collected in real time by depending on individual equipment, so that on one hand, the protection of individual soldiers can be improved, danger possibly encountered by the individual soldiers can be early warned, the aim of avoiding danger in advance can be achieved, on the other hand, assistance can be provided for auxiliary decisions and scientific command, and the decision capability of commanders can be improved; thirdly, the communication adaptability is not strong, and the 350MHz trunking communication system used by the traditional firefighting rescue team can effectively cover urban jurisdictions through the combined application of the fixed station, the vehicle-mounted station and the terminal, but in the process of covering the inside of a building, particularly when rescue places are urban middle and high-rise super-high-rise buildings, underground spaces, complexes and the like, a large amount of blind areas exist in the 350MHz trunking communication, and communication disconnection occurs. With the continuous progress of wireless communication technology, the application of the 4G and 5G network communication technology in the civil field provides a new technical idea for firefighting team rescue emergency communication guarantee, the fusion and compatibility of various system communication networks are achieved, the emergency communication guarantee capability and the communication redundancy are improved, and the method is an important research hotspot in the future emergency communication guarantee field.
Disclosure of Invention
Aiming at the defects of low integration level, weak information sensing capability, weak communication adaptability and the like of digital fire-fighting individual equipment in the prior art, the invention aims to provide a digital fire-fighting individual communication system and a data sensing acquisition communication method which can effectively ensure the life safety of fire-fighting rescue workers in the emergency rescue process.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a digital fire-fighting individual communication system, which comprises a core communication terminal and a plurality of networking nodes, wherein the core communication terminal is assembled on a scene fire-fighting individual, the core communication terminal has a plurality of network communication modes, is carried by the fire-fighting individual, is in wireless interconnection and intercommunication with one or a plurality of networking nodes nearby, and is in audio and video communication with scene actual combat command platform commanders of other scene fire-fighting individual or scene command parts; the core communication terminal is directly and wirelessly connected with the field actual combat command platform or is wirelessly connected with the field actual combat command platform through the networking node.
The networking node comprises an ad hoc network radio frequency function realizing unit and a space positioning function realizing unit, and each node power supply unit provides a working power supply, wherein the ad hoc network radio frequency function unit comprises a 600MHz radio frequency module and a radio frequency antenna, so that the construction of a temporary emergency communication network in a building is realized, and an internal and external communication network is provided for an internal emergency rescue individual soldier; the space positioning function realizing unit comprises a UWB-Tag module and an NFC matching module, wherein the UWB-Tag module is a ranging reference point obtained by an individual soldier, and the NFC matching module is matched with the NFC module in a fire fighting facility of a building in a building to realize the determination of the space position coordinates of the reference point.
The core communication terminal is a handheld communication terminal, and consists of a command radio frequency function unit, a body area radio frequency function unit and a space positioning function auxiliary unit, wherein the core communication terminal is provided with a working power supply by a core communication power supply unit, and the space positioning function auxiliary unit collects position information of an individual soldier and transmits the position information to the body area radio frequency function unit; the body area radio frequency functional unit transmits the received and collected various information to the command radio frequency functional unit; and the command radio frequency functional unit establishes a radio frequency link with the field actual combat command platform of the field command part.
The space positioning function auxiliary unit comprises an inertial navigation positioning module, a UWB positioning module and a Beidou positioning module, wherein the inertial navigation positioning module and the UWB positioning module are used for acquiring individual position information in a building space, and the Beidou positioning module is used for acquiring the individual position information outdoors; the space positioning function auxiliary unit realizes the acquisition of indoor and outdoor position information through the inertial navigation positioning module, the UWB positioning module and the Beidou positioning module and transmits data to the body area radio frequency function unit.
The body area radio frequency functional unit is provided with a Wi-Fi radio frequency module and a Bluetooth radio frequency module, wherein the Wi-Fi radio frequency module is used for acquiring broadband data, and the Bluetooth radio frequency module is used for acquiring narrowband data; the body area radio frequency functional unit is used for realizing the collection of various information through the Wi-Fi radio frequency module and the Bluetooth radio frequency module and transmitting data to the command radio frequency functional unit.
The command radio frequency functional unit comprises a 370MHz cluster radio frequency module, a 4G LTE public network radio frequency module, a 4G LTE private network radio frequency module and a 600MHz ad hoc network radio frequency module, wherein the 370MHz cluster radio frequency module is used for trunking voice communication, and when a field 370MHz cluster dispatching network is insufficient to cover a building space, the voice trunking communication is carried by the 4G LTE public network radio frequency, the 4G LTE private network radio frequency or the 600MHz ad hoc network radio frequency; the ad hoc network radio frequency functional unit adopts a 600MHz radio frequency module to realize the construction of a temporary emergency communication network in the building, and provides an internal and external communication network for an individual soldier in the internal emergency rescue.
The networking nodes are freely fixed on any wall body in the building space by adopting an adhesive buckle structure.
The invention also provides a digital fire-fighting individual communication system and a data perception acquisition communication method, which comprise the following steps:
1) Initial coordinate determination, namely taking the position of the site command part as the coordinate origin P of the site 0(x，y) The on-site command part deploys an RTK base station to calibrate the accuracy of the positioning position acquired by the outdoor Beidou satellite;
2) The method comprises the steps that reference coordinates are obtained, networking nodes are deployed after fire-fighting individual soldiers enter the building, a power supply is started after the networking nodes are deployed, NFC modules in the networking nodes are matched with NFC modules inside or outside a fire-fighting facility, and a plurality of reference coordinates RP are obtained n(x，y) ；
3) Single-point reference positioning for judging reference coordinate RP of UWB-Tag adjacent to individual soldiers in building n(x，y) Whether the number exceeds a prescribed threshold; when referring to the coordinates RP n(x，y) When the number of the inertial navigation positioning modules does not exceed a specified threshold value, single-point ranging of the inertial navigation positioning modules and the UWB positioning modules is relied on to achieve acquisition of the internal positions of the individual buildings, and accumulated errors generated by the inertial navigation positioning modules are gradually eliminated;
4) Multipoint reference positioning, reference coordinate RP of UWB-Tag adjacent to individual soldiers in building n(x，y) When the number exceeds a specified threshold, the positions of individual soldiers in the building are acquired by adopting a UWB ranging and positioning mode, so that the reset of the accumulated errors of the inertial navigation positioning module is realized;
5) The height of the individual soldier is obtained, the height of the individual firefighter is calculated, and the height H is used for calculating the height of the individual firefighter t And comparing with the complex building structure diagram to determine the floor where the individual soldier is located.
In the step 3), the single-point ranging of the inertial navigation positioning module and the UWB positioning module is relied on to realize the acquisition of the internal position of the individual building, and the method specifically comprises the following steps:
301 Acquiring position coordinates of the preamble at two moments by using the inertial navigation positioning module, and calculating L1, L2 and L3 by the following formulas
In the above, t is the time, and represents the time when the position calculation or the position acquisition is required, P t(x，y) Is the coordinate of the position of the individual soldier at the moment t, P t X is the x coordinate of the position of the individual soldier at the moment t, P t y coordinates of the position of the individual soldier at yt moment; t-1 is the first 1 time interval, P t-1(x，y) Representing the position coordinates of the individual soldiers at the moment of the preamble of 1 time interval, wherein t-2 is the preamble of 2 time intervals, P t-2(x，y) Representing the position coordinates of the individual soldier at the moment of the first 1 time interval;
l1 represents a point P t To point P t-1 L2 represents the distance of the point P t To point P t-2 L3 represents the distance of the point P t Point of arrival RP n Is a distance of (2);
302 Detecting the existence of UWB-Tag at time t, and obtaining P by UWB ranging method t Three reference points RP whose points are closest to each other 1 、RP 2 、RP 3 The distances L1, L2, L3 of (2) will be determined to be P t Problem of coordinates, conversion to a known RP 1(x，y) 、RP 2(x，y) 、RP 3(x，y) Three-point coordinates and P t To RP 1 、RP 2 、RP 3 The distances L1, L2, L3 of the reference points are calculated to obtain P t(x，y) The mathematical problem of the point coordinates is further solved, and the coordinate P of the point where the individual soldier is located at the time t is further obtained t(x，y) 。
In the step 5), the individual soldier height acquiring method is that the altitude acquired by outdoor Beidou positioning is used as an initial H 0 Determining the reference point relative to H from the structural diagram of the complex building 0 The height of the individual soldier in the travelling process is obtained according to three reference points RP closest to the individual soldier 1 、RP 2 、RP 3 Height H of (2) 1 、H 2 、H 3 The height H of this point is finally obtained according to the following formula t Then according to the height H t Comparing with the complex building structure diagram, determining the floor where the individual soldier is located:
H t ＝(H 1 +H 2 +H 3 )/3 (4)。
the invention has the following beneficial effects and advantages:
1. according to the invention, the information acquisition and communication equipment are highly integrated, so that the effective fusion of the individual fire fighting system equipment can be realized, the individual combat load can be reduced, and the advantage of flexible individual combat can be better exerted;
2. the invention divides the complex building rescue site into the site command network and the individual soldier body area network, establishes the method for information communication exchange between the two networks, solves the problem of serious multi-communication interference caused by 'one set of equipment one network' of the current firefighting rescue team, and can effectively improve the adaptability of site emergency communication;
3. the invention establishes a hybrid positioning technology combining inertial navigation positioning and UWB ranging positioning, and applies the hybrid positioning technology to the indoor positioning of a firefighting individual soldier in a complex building rescue scene, and is characterized in that the position acquisition can be realized by a single UWB-Tag, the high-precision positioning can be realized by multiple UWB-tags, and the precision of the position acquisition in the individual soldier rescue process can be effectively improved; meanwhile, the positioning method is different from the traditional UWB ranging positioning, and has the advantages that the UWB-Tag is applied to realize the position positioning of the UWB base station, so that the implementation cost is reduced, and the wide-range application is realized;
4. the invention realizes the comprehensive integration of multiple wide and narrow band radio frequencies, reserves an information transmission link for the perception of individual soldier body area network information (environmental information, vital sign information, toxic and harmful gas information, position information, double-light image acquisition information and the like), and can effectively improve the perception early warning capability of the individual firefighter on surrounding potential hazards in the process of executing rescue tasks by wireless connection with various sensing devices.
Drawings
FIG. 1 is a block diagram of a digital fire fighting individual communication system of the present invention;
FIG. 2 is a functional schematic diagram of a core communication terminal according to the present invention;
FIG. 3 is a functional schematic diagram of a networking node according to the present invention;
FIG. 4 is a schematic diagram of a single point reference positioning in accordance with the present invention;
FIG. 5 is a schematic diagram of a multi-point reference positioning system according to the present invention;
fig. 6 is a flow chart of a data sensing acquisition communication method in the present invention.
Detailed Description
The invention is further elucidated below in connection with the drawings of the specification.
As shown in fig. 1, the invention provides a digital fire-fighting individual communication system, which comprises a core communication terminal and a plurality of networking nodes, wherein the core communication terminal is assembled on a scene fire-fighting individual, the core communication terminal has a plurality of network communication modes, is carried by the fire-fighting individual, is in wireless interconnection and intercommunication with one or a plurality of networking nodes nearby, and is in audio and video communication with scene actual combat command platform commander of other scene fire-fighting individual or scene command parts; the core communication terminal is directly and wirelessly connected with the field actual combat command platform or is wirelessly connected with the field actual combat command platform through the networking node.
As shown in fig. 3, the networking node comprises an ad hoc network radio frequency function unit, a space positioning function realizing unit and a node power supply unit, wherein the ad hoc network radio frequency function unit adopts a 600MHz radio frequency module and a radio frequency antenna to realize the construction of a temporary emergency communication network in a building, and provides an internal and external communication network for an individual soldier in an internal emergency rescue; the space positioning function realizing unit comprises a UWB-Tag module and an NFC matching module, wherein the UWB-Tag module is a ranging reference point for positioning by an individual soldier, and the NFC matching module is matched with the NFC module in a building fire-fighting facility (such as a fire evacuation indicator lamp, a hand report button and the like) in a building to realize the determination of the spatial position coordinates of the reference point. The self-networking radio frequency function unit and the space positioning function realizing unit are provided with working power supply by the node power supply unit.
In the embodiment, the networking nodes are freely fixed on any wall body in the building space by adopting a sticky buckle structure, the networking nodes support an ad hoc network protocol framework, and the space positioning function realizing unit is in wireless interconnection and intercommunication with adjacent networking nodes through an ad hoc network radio frequency function unit; and accessing the on-site actual combat command platform of the on-site command department wirelessly through one or more networking nodes. The ad hoc network node improves networking performance (improves coverage and network communication performance) based on structural design (sticking buckle), and the unit and the core communication terminal are combined to realize the spatial position determination of the individual fire fighter in and out of the complex building.
As shown in fig. 2, the core communication terminal is a handheld communication terminal, and the core communication terminal comprises a command radio frequency function unit, a body area radio frequency function unit and a space positioning function auxiliary unit, wherein the core communication power supply unit provides a working power supply, and the space positioning function auxiliary unit collects position information of an individual soldier and transmits the position information to the body area radio frequency function unit; the body area radio frequency functional unit transmits the received and collected various information to the command radio frequency functional unit; the command radio frequency function unit establishes a radio frequency link with a field actual combat command platform of the field command part; the body area radio frequency functional unit and the command radio frequency functional unit are respectively provided with a radio frequency antenna.
The space positioning function auxiliary unit comprises an inertial navigation positioning module, a UWB positioning module and a Beidou positioning module (the three modules work independently, data are fused in the background to determine position coordinates), individual soldier position information is acquired in a building space through the inertial navigation positioning module and the UWB positioning module, and individual soldier position information is acquired outdoors through the Beidou positioning module; the space positioning function auxiliary unit realizes the acquisition of indoor and outdoor position information through the inertial navigation positioning module, the UWB positioning module and the Beidou positioning module, and finally transmits data to the body area radio frequency function unit.
The body area radio frequency functional unit is provided with a Wi-Fi radio frequency module and a Bluetooth radio frequency module (the two modules work independently), wherein the Wi-Fi radio frequency module is used for acquiring broadband data and comprises a double-light camera image; the Bluetooth radio frequency module is used for collecting narrow-band data, including air respirator pressure data, poisonous and harmful gas data and individual vital sign data; the body area radio frequency functional unit realizes the collection of various information through the Wi-Fi radio frequency module and the Bluetooth radio frequency module, and finally transmits data to the command radio frequency functional unit.
In this embodiment, the body area radio frequency functional unit gathers the inside environmental information (temperature, humidity) of the complicated building that the individual soldier is located, individual soldier vital sign (rhythm of the heart, skin temperature, breathe, perspiration etc.), poisonous and harmful gas (gas kind, gas concentration), air respirator pressure, two light camera images (visible light camera image, infrared camera image) and with infrared camera image propelling movement near-to eye display system in the helmet, satisfies the individual soldier and can freely change to infrared night vision mode in dense smoke, dark environment. The Wi-Fi radio frequency is used for collecting broadband data, such as: the dual-light camera image, bluetooth radio frequency is used to collect narrowband data, such as: pressure data, toxic and harmful gas data, vital sign data and the like of the air respirator, and finally, the body area radio frequency functional unit transmits various acquired information to the command radio frequency functional unit.
The command radio frequency functional unit comprises a 370MHz cluster radio frequency module, a 4G LTE public network radio frequency module, a 4G LTE private network radio frequency module and a 600MHz self-organizing network radio frequency module (the four modules independently work), wherein the 370MHz cluster radio frequency module is used for trunking voice communication, and when a field 370MHz cluster dispatching network is insufficient to cover a building space, the trunking voice communication is carried by the 4G LTE public network radio frequency, the 4G LTE private network radio frequency or the 600MHz self-organizing network radio frequency.
The command radio frequency function unit is used for establishing a radio frequency link with a field actual combat command platform of the field command part, so that the audio and video communication between the individual soldiers and between the command personnel is realized.
The digital fire-fighting individual communication system is assembled on a fire-fighting rescue individual, integrates emergency networking, information sensing acquisition and information communication functions through fusion with a fire-fighting helmet, an air respirator and various field information sensing devices, and achieves deep fusion of information protection and physical protection through improving communication guarantee capacity and information sensing capacity of the fire-fighting individual in a complex building rescue place, so that life safety of fire-fighting rescue personnel in an emergency rescue process is effectively guaranteed.
The invention is particularly suitable for emergency rescue sites such as urban high-rise buildings, super high-rise buildings, underground super large space, urban complex buildings and the like.
The invention also provides a data sensing acquisition communication method of the digital fire-fighting individual communication system, which comprises the following steps:
1) Initial coordinate determination, namely taking the position of the site command part as the coordinate origin P of the site 0(x，y) The on-site command part deploys RTK base stations (the on-site actual combat command platform is a set of software and hardware platform on a mobile command vehicle depending on the site, the RTK base stations are erected on the command vehicle and can cover the range of 30KM on the site), and the accuracy calibration is carried out on the positioning positions acquired by outdoor Beidou satellites;
2) The method comprises the steps that reference coordinates are obtained, networking nodes are deployed after fire-fighting individual soldiers enter the building, the networking nodes are deployed to finish starting a power supply, NFC modules in the networking nodes are matched with NFC modules inside or outside a fire-fighting facility, and a plurality of reference coordinates RP are obtained n(x ， y) ；
3) Single-point reference positioning for judging reference coordinate RP of UWB-Tag adjacent to individual soldiers in building n(x，y) Whether the number exceeds a prescribed threshold; when referring to the coordinates RP n(x，y) When the number of the inertial navigation positioning modules does not exceed a specified threshold value, single-point ranging of the inertial navigation positioning modules and the UWB positioning modules is relied on to achieve acquisition of the internal positions of the individual buildings, and accumulated errors generated by the inertial navigation positioning modules are gradually eliminated;
4) Multipoint reference positioning, reference coordinate RP of UWB-Tag adjacent to individual soldiers in building n(x，y) When the number exceeds a specified threshold, the positions of individual soldiers in the building are acquired by adopting a UWB ranging and positioning mode, so that the reset of the accumulated errors of the inertial navigation positioning module is realized;
5) The height of the individual soldier is obtained, the height of the individual firefighter is calculated, and the height H is used for calculating the height of the individual firefighter t And comparing with the complex building structure diagram to determine the floor where the individual soldier is located.
In the step 3), the single-point ranging of the inertial navigation positioning module and the UWB positioning module is relied on to realize the acquisition of the internal position of the individual building, and the method specifically comprises the following steps:
301 Acquiring the position coordinates of the preamble (the position is acquired time-ordered, i.e. once every one period within a specified period interval) by using the inertial navigation positioning module, and calculating L1, L2 and L3 by
In the above formula, t represents the time when the position calculation or the position acquisition is required, P t(x，y) Is the coordinate of the position of the individual soldier at the moment t, P t X is the x coordinate of the position of the individual soldier at the moment t, P t y is the y coordinate of the position of the individual soldier at the moment t; t-1 is the first 1 time interval, P t-1(x，y) Representing the position coordinates of the individual soldiers at the moment of the preamble of 1 time interval, wherein t-2 is the preamble of 2 time intervals, P t-2(x，y) And the position coordinates of the individual soldier at the moment of the first 2 time intervals are shown.
L1 represents P t(x，y) To P t-1(x，y) L2 represents P t(x，y) To P t-2(x，y) L3 represents P t(x，y) To RP n(x，y) Is a distance of (2);
302 Detecting the existence of UWB-Tag at time t, and obtaining P by UWB ranging method t Three reference points RP whose points are closest to each other 1 、RP 2 、RP 3 The distances L1, L2, L3 of (2) will be determined to be P t Problem of coordinates, conversion to a known RP 1(x，y) 、RP 2(x，y) 、RP 3(x，y) Three-point coordinates and P t To RP 1 、RP 2 、RP 3 Distance of reference pointL1, L2, L3, and obtaining P t The mathematical problem of the point coordinates is further solved, and the coordinate P of the point where the individual soldier is located at the time t is further obtained t(x，y) 。
Step 3) As shown in FIG. 4, single point reference positioning is performed when the individual fire fighters enter the interior of the building from the outside of the building, RP n The number of reference points is small (n<3) At the moment, the internal position of the individual building can be obtained by relying on inertial navigation positioning and UWB single-point distance measurement, and the accumulated error of the inertial navigation positioning can be compensated. The specific implementation method comprises the steps of firstly, acquiring position coordinates of two time points of the preamble by using an inertial navigation positioning module and recording the position coordinates as P t-2(x，y) 、P t-1(x，y) To P t(x，y) The existence of UWB-Tag is detected at time t, and P is obtained by UWB ranging t Point-to-RP n So that P can be obtained by trilateration t Coordinates P of points t(x，y) 。
Step 4) As shown in FIG. 5, the multi-point reference positioning is performed, when the individual fire fighters enter the interior of the building from the outside of the building, RP n The number of the reference points is more than or equal to 3, and the UWB positioning (LOS, in a visible range) has higher accuracy, so that the position of the individual soldier in the building is acquired by adopting a UWB ranging positioning mode. The specific implementation method is that the reference node RP is known 1 、RP 2 、RP 3 Is RP in the coordinates of 1(x，y) 、RP 2(x，y) 、RP 3(x，y) And P t Point-to-RP 1 、RP 2 、RP 3 The distances L1, L2 and L3 of the P can be obtained by using a trilateration method t Coordinates P of points t(x，y) 。
In the step 5), the height of the individual soldier is obtained, and the height calculation method of the individual fire fighting soldier uses the height obtained by outdoor Beidou positioning as an initial H 0 Each reference point RP n In addition to having (x, y) reference coordinates, the reference point will be determined relative to H from the structure of the complex building 0 The height of the individual soldier in the travelling process is obtained according to three reference points RP closest to the individual soldier 1 、RP 2 、RP 3 Height H of (2) 1 、H 2 、H 3 Finally obtaining the point according to formula (4)Height H t Then according to the height H t Comparing with the complex building structure diagram to determine the floor where the individual soldier is located;
H t ＝(H 1 +H 2 +H 3 )/3 (4)。
as shown in fig. 6, the wireless communication network of the complex building fire-extinguishing rescue site is composed of a plurality of individual body area networks and a site command and dispatch network, wherein the individual body area networks take rescue individual soldiers as network centers, have the dual functions of information acquisition and network access, carry out matching acquisition on site environment temperature and humidity data, environment toxic and harmful gas data and double-light image acquisition equipment through Wi-Fi radio frequency, and carry out matching acquisition on individual vital sign data and air respirator pressure data (the sensing equipment applied by the invention is independent, for example, an air call is carried by a fire fighter, and the double-light image acquisition equipment is generally fixed on a helmet, acquires data of the equipment through a wireless mode and acquires spatial position data through Bluetooth radio frequency matching; the Wi-Fi radio frequency and the Bluetooth radio frequency collect data and then gather the data to a command radio frequency functional unit, the command radio frequency functional unit is accessed to a site command scheduling network, various information and communication audios and videos are uploaded to a site command part, and bidirectional audio and video and data communication between the site command part and a rescue individual soldier is realized.
Claims (6)
1. A digital fire control individual soldier communication system which characterized in that: the system comprises a core communication terminal and a plurality of networking nodes, wherein the core communication terminal is assembled on a scene fire individual soldier, and has a plurality of network communication modes, is carried by the fire individual soldier, is in wireless interconnection and intercommunication with one or a plurality of networking nodes nearby, and is in audio and video communication with scene actual combat command platform commander of other scene fire individual soldiers or scene command parts; the core communication terminal is directly and wirelessly connected with the field actual combat command platform or is wirelessly connected with the field actual combat command platform through a networking node;
the core communication terminal is a handheld communication terminal, and consists of a command radio frequency function unit, a body area radio frequency function unit and a space positioning function auxiliary unit, wherein the core communication terminal is provided with a working power supply by a core communication power supply unit, and the space positioning function auxiliary unit collects position information of an individual soldier and transmits the position information to the body area radio frequency function unit; the body area radio frequency functional unit transmits the received and collected various information to the command radio frequency functional unit; the command radio frequency function unit establishes a radio frequency link with a field actual combat command platform of the field command part; the space positioning function auxiliary unit comprises an inertial navigation positioning module, a UWB positioning module and a Beidou positioning module, wherein the inertial navigation positioning module and the UWB positioning module are used for acquiring individual position information in a building space, and the Beidou positioning module is used for acquiring the individual position information outdoors; the space positioning function auxiliary unit is used for realizing the acquisition of indoor and outdoor position information through the inertial navigation positioning module, the UWB positioning module and the Beidou positioning module and transmitting data to the body area radio frequency function unit;
the data perception acquisition communication method adopted by the digital fire control individual soldier communication system comprises the following steps:
1) Initial coordinate determination, namely taking the position of the site command part as the coordinate origin P of the site 0(x，y) The on-site command part deploys an RTK base station to calibrate the accuracy of the positioning position acquired by the outdoor Beidou satellite;
2) The method comprises the steps that reference coordinates are obtained, networking nodes are deployed after fire-fighting individual soldiers enter the building, a power supply is started after the networking nodes are deployed, NFC modules in the networking nodes are matched with NFC modules inside or outside a fire-fighting facility, and a plurality of reference coordinates RP are obtained n(x，y) ；
3) Single-point reference positioning for judging reference coordinate RP of UWB-Tag adjacent to individual soldiers in building n(x，y) Whether the number exceeds a prescribed threshold; when referring to the coordinates RP n(x，y) When the number of the inertial navigation positioning modules does not exceed a specified threshold value, single-point ranging of the inertial navigation positioning modules and the UWB positioning modules is relied on to achieve acquisition of the internal positions of the individual buildings, and accumulated errors generated by the inertial navigation positioning modules are gradually eliminated;
4) Multipoint reference positioning, reference coordinate RP of UWB-Tag adjacent to individual soldiers in building n(x，y) When the number exceeds a specified threshold, the positions of individual soldiers in the building are acquired by adopting a UWB ranging and positioning mode, so that inertia is realizedResetting the accumulated error of the guiding and positioning module;
5) The height of the individual soldier is obtained, the height of the individual firefighter is calculated, and the height H is used for calculating the height of the individual firefighter t Comparing with the complex building structure diagram to determine the floor where the individual soldier is located;
in the step 3), the single-point ranging of the inertial navigation positioning module and the UWB positioning module is relied on to realize the acquisition of the internal position of the individual building, and the method specifically comprises the following steps:
301 Acquiring position coordinates of the preamble at two moments by using the inertial navigation positioning module, and calculating L1, L2 and L3 by the following formulas
In the above, t is the time, and represents the time when the position calculation or the position acquisition is required, P t(x，y) Is the coordinate of the position of the individual soldier at the moment t, P t X is the x coordinate of the position of the individual soldier at the moment t, P t y is the y coordinate of the position of the individual soldier at the moment t; t-1 is the first 1 time interval, P t-1(x，y) Representing the position coordinates of the individual soldiers at the moment of the preamble of 1 time interval, wherein t-2 is the preamble of 2 time intervals, P t-2(x，y) Representing the position coordinates of the individual soldier at the moment of the first 2 time intervals, wherein L1 represents the point P t To point P t-1 L2 represents the distance of the point P t To point P t-2 L3 represents the distance of the point P t Point of arrival RP n Is a distance of (2);
302 Detecting the existence of UWB-Tag at time t, and obtaining P by UWB ranging method t Three reference points RP whose points are closest to each other 1 、RP 2 、RP 3 The distances L1, L2, L3 of (2) will be determined to be P t Problem of coordinates, conversion to a known RP 1(x，y) 、RP 2(x，y) 、RP 3(x，y) Three-point coordinates and P t To RP 1 、RP 2 、RP 3 The distances L1, L2, L3 of the reference points are calculated to obtain P t(x，y) The mathematical problem of the point coordinates is further solved, and the coordinate P of the point where the individual soldier is located at the time t is further obtained t(x，y) 。
2. The digital fire individual communication system of claim 1, wherein: the networking node comprises an ad hoc network radio frequency function realizing unit and a space positioning function realizing unit, and each node power supply unit provides a working power supply, wherein the ad hoc network radio frequency function unit comprises a 600MHz radio frequency module and a radio frequency antenna, so that the construction of a temporary emergency communication network in a building is realized, and an internal and external communication network is provided for an internal emergency rescue individual soldier; the space positioning function realizing unit comprises a UWB-Tag module and an NFC matching module, wherein the UWB-Tag module is a reference point obtained by an individual soldier, and the NFC matching module is matched with the NFC module in a fire fighting facility of a building in a building to realize the determination of the space position coordinates of the reference point.
3. The digital fire individual communication system of claim 1, wherein: the body area radio frequency functional unit is provided with a Wi-Fi radio frequency module and a Bluetooth radio frequency module, wherein the Wi-Fi radio frequency module is used for acquiring broadband data, and the Bluetooth radio frequency module is used for acquiring narrowband data; the body area radio frequency functional unit is used for realizing the collection of various information through the Wi-Fi radio frequency module and the Bluetooth radio frequency module and transmitting data to the command radio frequency functional unit.
4. The digital fire individual communication system of claim 1, wherein: the command radio frequency functional unit comprises a 370MHz cluster radio frequency module, a 4G LTE public network radio frequency module, a 4G LTE private network radio frequency module and a 600MHz ad hoc network radio frequency module, wherein the 370MHz cluster radio frequency module is used for trunking voice communication, and when a field 370MHz cluster dispatching network is insufficient to cover a building space, the voice trunking communication is carried by the 4G LTE public network radio frequency, the 4G LTE private network radio frequency or the 600MHz ad hoc network radio frequency; the ad hoc network radio frequency functional unit adopts a 600MHz radio frequency module to realize the construction of a temporary emergency communication network in the building, and provides an internal and external communication network for an individual soldier in the internal emergency rescue.
5. The digital fire individual communication system of claim 1, wherein: the networking nodes are freely fixed on any wall body in the building space by adopting an adhesive buckle structure.
6. The data sensing and collecting communication method of the digital fire individual communication system according to claim 1, wherein the method comprises the following steps: in the step 5), the individual soldier height acquiring method is that the altitude acquired by outdoor Beidou positioning is used as an initial H 0 Determining reference points relative to H from a block diagram of a complex building 0 The height of the individual soldier in the travelling process is obtained according to three reference points RP closest to the individual soldier 1 、RP 2 、RP 3 Height H of (2) 1 、H 2 、H 3 The height H of the reference point is finally obtained according to the following formula t Then according to the height H t Comparing with the complex building structure diagram, determining the floor where the individual soldier is located:
H t ＝(H 1 +H 2 +H 3 )/3 (4)。
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