阅读说明：本技术 消防人员定位方法、装置及终端设备 (Firefighter positioning method and device and terminal equipment ) 是由 高立志 许超 于 2019-11-04 设计创作，主要内容包括：本申请适用于消防技术领域,提供了消防人员定位方法、装置及终端设备。该消防人员定位方法包括：广播距离探测信号,并接收各个预设基站发送的基于所述距离探测信号的响应信号；其中,各个预设基站预先设置在目标空间内部的第一位置；基于距离探测信号和至少三个预设基站的所述响应信号,确定终端与至少三个预设基站之间的距离；基于终端与至少三个预设基站之间的距离,以及至少三个预设基站的第一位置,确定终端的当前位置。上述消防人员定位方法能够准确定位消防人员在目标空间中的位置,进而能够对消防人员提供有效的保护措施。(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: broadcasting a distance detection signal and receiving a response signal based on the distance detection signal sent by each preset base station; each preset base station is preset at a first position in a target space; determining distances between the terminal and at least three preset base stations based on the distance detection signals and the response signals of the at least three preset base stations; and determining the current position of the terminal based on the distances between the terminal and the at least three preset base stations and the first positions of the at least three preset base stations. The firefighter positioning method can accurately position the position of the firefighter in the target space, and further can provide effective protection measures for firefighters.)

1. A method of locating a firefighter, comprising:

broadcasting a distance detection signal and receiving a response signal based on the distance detection signal sent by each preset base station; each preset base station is preset at a first position in a target space;

determining distances between the terminal and at least three preset base stations based on the distance detection signals and the response signals of the at least three preset base stations; the terminal is carried by a fire fighter;

and determining the current position of the terminal based on the distances between the terminal and the at least three preset base stations and the first positions of the at least three preset base stations.

2. A firefighter location method according to claim 1, wherein said range finder signal includes a broadcast time at which said terminal broadcasts said range finder signal, and said response signal includes a preset base station identification, a first reception time at which said preset base station receives said range finder signal, and a first transmission time at which said preset base station transmits said response signal;

the determining distances between the terminal and at least three preset base stations based on the distance detection signals and the response signals of the at least three preset base stations includes:

and determining the distance from the terminal to a preset base station corresponding to the preset base station identification based on the broadcasting time, the first receiving time, the first sending time and the second receiving time of the terminal for receiving the response signal in each response signal.

3. A firefighter location method according to claim 2, wherein said determining a distance of a terminal to a preset base station corresponding to said preset base station identification based on said broadcast time, said first reception time, said first transmission time, and a second reception time at which said terminal receives said response signal in each response signal comprises:

according to S_i＝c×[(T_ia1-T_a2)-(T_ib1-T_ib2)]Calculating the distance from the terminal to each preset base station;

wherein S is_iThe distance from the terminal to a preset base station i, c is the propagation speed of a signal between the terminal and the preset base station i, T_ia1A second receiving time T for the terminal to receive a response signal sent by a preset base station i_a2For said broadcast time, T_ib1A first transmission time, T, for transmitting a response signal for a predetermined base station i_ib2And presetting the first receiving time of the base station i for receiving the distance detection signal.

4. A firefighter location method according to claim 1, wherein said determining a current location of the terminal based on distances between the terminal and the at least three preset base stations and locations of the at least three preset base stations comprises:

calculating distances between the three preset base stations based on the first positions of the three preset base stations;

and determining the current position of the terminal based on the first positions of the three preset base stations, the distance between the terminal and the three preset base stations and the distance between the three preset base stations.

5. A firefighter positioning method according to claim 4, wherein the three preset base stations are Ro, Rx and Ry, respectively, and the distance between Ro and Rx is l_oxThe distance between the preset base station Ro and the preset base station Ry is l_oyPresetting the distance d from the base station Ro to the terminal_oPresetting the distance from the base station Rx to the terminal as d_xPresetting the distance from the base station Ry to the terminal as d_yAnd the position of the terminal under the reference coordinate is (x, y, z), then

From this, the position (x, y, z) of the terminal can be derived as:

6. a firefighter location method according to claim 1, wherein the method further comprises: determining first positions of the at least three preset base stations;

the determining the first positions of the at least three preset base stations comprises:

obtaining distances from the at least three preset base stations to at least three external base stations located outside the target space; wherein the second positions of the at least three external base stations are determined based on satellite positioning and are corrected by signal transmission distances between the external base stations;

determining first positions of the at least three preset base stations based on the second positions of the at least three external base stations.

7. A firefighter positioning method according to claim 6, wherein the second positions of the at least three external base stations are determined by:

determining preliminary positions of the at least three external base stations based on satellite positioning, and determining first distances between 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 signal transmission time between each two of the at least three external base stations;

and correcting the preliminary position of each external base station based on the first distance and the second distance to obtain a second position of each external base station.

8. A firefighter positioning device, comprising:

the broadcast receiving module is used for broadcasting the distance detection signals and receiving response signals which are sent by each preset base station and are based on the distance detection signals; each preset base station is preset at a first position in a target space;

a distance determining module, configured to determine distances between the terminal and at least three preset base stations based on the distance detection signals and the response signals of the at least three preset base stations; the terminal is carried by a fire fighter;

and the position determining module is used for determining the current position of the terminal based on the distances between the terminal and the at least three preset base stations and the first positions of the at least three preset base stations.

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.

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:

broadcasting a distance detection signal and receiving a response signal based on the distance detection signal sent by each preset base station; each preset base station is preset at a first position in a target space;

determining distances between the terminal and at least three preset base stations based on the distance detection signals and the response signals of the at least three preset base stations; the terminal is carried by a fire fighter;

and determining the current position of the terminal based on the distances between the terminal and the at least three preset base stations and the first positions of the at least three preset base stations.

In a possible implementation manner of the first aspect, the distance detection signal includes a broadcast time of the terminal broadcasting the distance detection signal, and the response signal includes a preset base station identifier, a first receiving time of the preset base station receiving the distance detection signal, and a first sending time of the preset base station sending the response signal;

the determining distances between the terminal and at least three preset base stations based on the distance detection signals and the response signals of the at least three preset base stations includes:

and determining the distance from the terminal to a preset base station corresponding to the preset base station identification based on the broadcasting time, the first receiving time, the first sending time and the second receiving time of the terminal for receiving the response signal in each response signal.

In a possible implementation manner of the first aspect, the determining, based on the broadcast time, the first receiving time, the first sending time, and a second receiving time at which the terminal receives the response signal in each response signal, a distance from the terminal to a preset base station corresponding to the preset base station identifier includes:

according to S_i＝c×[(T_ia1-T_a2)-(T_ib1-T_ib2)]Calculating the distance from the terminal to each preset base station;

wherein S is_iThe distance from the terminal to a preset base station i, c is the propagation speed of a signal between the terminal and the preset base station i, T_ia1A second receiving time T for the terminal to receive a response signal sent by a preset base station i_a2For said broadcast time, T_ib1A first transmission time, T, for transmitting a response signal for a predetermined base station i_ib2And presetting the first receiving time of the base station i for receiving the distance detection signal.

In a possible implementation manner of the first aspect, the determining the current location of the terminal based on the distances between the terminal and the at least three preset base stations and the locations of the at least three preset base stations includes:

calculating distances between the three preset base stations based on the first positions of the three preset base stations;

and determining the current position of the terminal based on the first positions of the three preset base stations, the distance between the terminal and the three preset base stations and the distance between the three preset base stations.

In a possible implementation manner of the first aspect, the first positions of the three preset base stations are Ro, Rx and Ry, respectively, and the distance between Ro and Rx is l_oxAnd the distance between Ro and Ry is l_oyRo is a distance d from the terminal_oRx distance d from the terminal_xAnd the distance from Ry to the terminal is d_yAnd the position of the terminal under the reference coordinate is (x, y, z), then

From this, the position (x, y, z) of the terminal can be derived as:

in a possible implementation manner of the first aspect, the method further includes: determining first positions of the at least three preset base stations;

the determining the first positions of the at least three preset base stations comprises:

obtaining distances from the at least three preset base stations to at least three external base stations located outside the target space; wherein the second positions of the at least three external base stations are determined based on satellite positioning and are corrected by signal transmission distances between the external base stations;

determining first positions of the at least three preset base stations based on the second positions of the at least three external base stations.

In a possible implementation manner of the first aspect, the method for determining the second positions of the at least three external base stations is:

determining preliminary positions of the at least three external base stations based on satellite positioning, and determining first distances between 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 signal transmission time between each two of the at least three external base stations;

and correcting the preliminary position of each external base station based on the first distance and the second distance to obtain a second position of each external base station.

Illustratively, the correcting the preliminary location of each of the external base stations based on the first distance and the second distance includes:

after the first distance and the second distance between any two external base stations are determined, the corresponding first distance and the second distance are compared, and the preliminary position is corrected according to the difference value of the first distance and the second distance to obtain the second position of each external base station.

Specifically, 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 isAfter the correction coefficient δ is obtained, the preliminary position of the external base station may be corrected by the correction coefficient δ.

In a second aspect, an embodiment of the present application provides a firefighter positioning device, including:

the broadcast receiving module is used for broadcasting the distance detection signals and receiving response signals which are sent by each preset base station and are based on the distance detection signals; each preset base station is preset at a first position in a target space;

a distance determining module, configured to determine distances between the terminal and at least three preset base stations based on the distance detection signals and the response signals of the at least three preset base stations; the terminal is carried by a fire fighter;

and the position determining module is used for determining the current position of the terminal based on the distances between the terminal and the at least three preset base stations and the first positions of the at least three preset base stations.

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 embodiment of the application, a terminal carried by a fire fighter broadcasts a distance detection signal and receives response signals based on the distance detection signal, which are sent by each preset base station; determining distances between the terminal and the at least three preset base stations based on the distance detection signals and the response signals of the at least three preset base stations; and then, the current position of the terminal is determined based on the distances between the terminal and the at least three preset base stations and the first positions of the at least three preset base stations, so that the positions of fire fighters can be accurately positioned in emergency, effective protection measures are implemented for the fire fighters, and the system architecture is simple and convenient to realize.

Optionally, the first position of the preset base station may be determined based on the second positions of at least three external base stations located outside the target space, and the second position is preliminarily determined based on satellite positioning and corrected based on a signal transmission distance, so that the second position is relatively accurate, the first position of the preset base station obtained from this is relatively accurate, and the position of the firefighter can be accurately positioned.

Optionally, the terminal position coordinates carried by the firefighters can be converted into data corresponding to floors, floor areas and the like, wherein each floor corresponds to one first coordinate range, and each room number corresponds to one second coordinate range, so that the actual positions of the firefighters can be accurately and quickly determined, and effective protective measures can be conveniently provided.

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 flowchart illustrating a process between a terminal and a predetermined base station 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 a scenario of a firefighter location method according to an embodiment of the present application;

FIG. 5 is a schematic flow chart diagram illustrating a method for locating a firefighter according to an embodiment of the present application;

FIG. 6 is a schematic flow chart diagram illustrating a method for locating a firefighter according to an embodiment of the present application;

fig. 7 is a schematic view of an application scenario of external base station positioning according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a firefighter positioning device according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a firefighter positioning device according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a terminal device provided in an embodiment of the present application;

fig. 11 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 positions of the fire fighters, so that more effective protective measures cannot be taken for the fire fighters. The method for positioning a firefighter in the embodiment of the application can be applied to a terminal carried by a firefighter, 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.

Specifically, the terminal broadcasts the distance detection signal and receives a response signal based on the distance detection signal sent by each preset base station preset in the target space, determines the distance between the terminal and the preset base station based on the distance detection signal and the response signal of the preset base station, and determines the position of the terminal based on the distance between the terminal and the preset base station and the position of the preset base station.

In the embodiment of the application, because it can preset in the target space to predetermine the basic station, the position of predetermineeing the basic station is fixed and comparatively accurate, the terminal can comparatively accurately confirm the terminal through apart from detecting signal and predetermine the distance between the basic station, and then can comparatively accurately confirm the current position of terminal according to the terminal and predetermine the distance between the basic station and the position of predetermineeing the basic station, thereby can carry out accurate positioning to the position of fire fighter under emergency, implement effectual safeguard measure to the fire fighter, and it is simple and convenient to realize the system architecture.

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, a distance detection signal is broadcasted, and a response signal based on the distance detection signal sent by each preset base station is received.

And the preset base stations are preset at first positions in the target space. Illustratively, the target space may be an indoor space, such as a residential building, an office building, a public place, or the like.

Specifically, the terminal may broadcast the distance detection signal in real time, and the distance detection signal may be received by each preset base station in the target space. After the preset base stations receive the distance detection signals, response signals corresponding to the distance detection signals are generated and returned to the terminal, and the terminal receives the response signals sent by the preset base stations.

The distance detection signal may include a network location of the terminal, and is used to instruct the preset base station to send the response signal to the terminal according to the network location; the response signal may include a first location of the preset base station and a preset base station identifier, and is used to instruct the terminal to determine the preset base station corresponding to the response signal and the location of the preset base station based on the first location and the preset base station identifier in the response signal.

It should be noted that, each preset base station in the target space is preset in the target space, so that the position of the preset base station can be predetermined in a manner of acquiring the position more accurately, so that the position of each preset base station obtained by the terminal is more accurate.

In step 102, distances between the terminal and at least three preset base stations are determined based on the distance detection signals and the response signals of the at least three preset base stations.

In this step, the distance between the terminal and the preset base station may be determined based on the propagation speed of the signal according to the correlation time of the distance detection signal and the correlation time of the response signal. For example, the distance between the terminal and the predetermined base station may be determined based on the difference between the time when the terminal transmits the ranging probe signal and the time when the response signal is received, and multiplied by the propagation speed of the signal.

Further, considering that a certain time difference exists between the time when the preset base station receives the distance detection signal and the time when the preset base station sends the response signal, in order to more accurately determine the distance between the terminal and the preset base station, the distance between the terminal and the preset base station may be determined based on the difference between the time when the terminal sends the distance detection signal, the time when the terminal receives the response signal, the time when the preset base station receives the distance detection signal, and the time when the preset base station sends the response signal, and then multiplied by the propagation speed of the signal.

In a possible implementation manner, the distance detection signal may carry a broadcast time for the terminal to broadcast the distance detection signal, and the response signal may carry a preset base station identifier, a first receiving time for the preset base station to receive the distance detection signal, and a first sending time for the preset base station to send the response signal.

Illustratively, step 102 may specifically include:

and determining the distance from the terminal to a preset base station corresponding to the preset base station identification based on the broadcasting time, the first receiving time, the first sending time and the second receiving time of the terminal for receiving the response signal in each response signal.

Specifically, the step can be according to S_i＝c×[(T_ia1-T_ia2)-(T_ib1-T_ib2)]Calculating the distance from the terminal to each preset base station;

wherein S is_iDistance from the terminal to a preset base station i, c propagation speed of signals between the terminal and the preset base station i (the propagation speeds of the distance detection signal and the response signal are the same), and T_ia1A second receiving time T for the terminal to receive a response signal sent by a preset base station i_ia2For said broadcast time, T_ib1A first transmission time, T, for transmitting a response signal for a predetermined base station i_ib2And presetting the first receiving time of the base station i for receiving the distance detection signal.

In some embodiments, the broadcast time, the first sending time, the first receiving time, the second receiving time, and the preset base station identifier may all be carried in the response signal, and the terminal only needs to extract the broadcast time, the first sending time, the first receiving time, the second receiving time, and the preset base station identifier from the received response signal, determine the preset base station, and calculate the distance to the preset base station.

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.

For example, referring to fig. 2, the signal flow between the terminal and each preset base station may be as follows:

the terminal can broadcast a UWB distance detection signal to a target space, wherein the UWB distance detection signal carries a network address and broadcast time of the terminal;

each preset base station in the target space can detect the UWB distance detection signal, a response signal is generated according to the UWB distance detection signal and is sent to the terminal based on the network address, and the response signal carries broadcast time, first receiving time, first sending time, second receiving time and a preset base station identifier;

and the terminal extracts the broadcast time, the first sending time, the first receiving time, the second receiving time and the preset base station identification from the received response signal, determines the preset base station and calculates the distance to the preset base station.

In a possible implementation manner, the terminal and the preset base station are both provided with a UWB positioning unit, and the UWB positioning unit can realize the ranging function from the terminal to the preset base station and the ranging function between the preset base stations.

In step 103, a current location of the terminal is determined based on distances between the terminal and the at least three preset base stations and first locations of the at least three preset base stations.

After the distances between the terminal and the at least three preset base stations are obtained, the current position of the terminal can be determined by combining the first positions of the preset base stations. For example, the distance between the preset base stations may be determined according to the first position of each preset base station, and then the current position of the terminal may be obtained by combining the distance between the terminal and the preset base station and the first position of the preset base station.

Referring to fig. 3, based on the embodiment shown in fig. 1, the process of determining the current location of the terminal based on the distances between the terminal and the at least three preset base stations and the locations of the at least three preset base stations may include the following steps:

in step 1031, distances between the three preset base stations are calculated based on the first positions of the three preset base stations.

For example, a coordinate system may be established based on three predetermined base stations, distances between the three predetermined base stations may be calculated, and a current location of the terminal may be determined.

For example, referring to fig. 4, the three preset base stations are Ro, Rx and Ry, a coordinate axis is established by using the preset base station Ro as an origin, a connection line between the preset base station Ro and the preset base station Rx as an x-axis, a connection line between the preset base station Ro and the preset base station Ry as a y-axis, and a vertical direction between the preset base station Ro and the x-axis and the y-axis as a z-axis, and a distance l between the preset base station Ro and the preset base station Rx can be calculated according to position coordinates of first positions of the three preset base stations_oxThe distance between the preset base station Ro and the preset base station Ry is l_oy。

Specifically, the first positions of the preset base stations Ro, Rx, and Ry may include longitude, latitude, and altitude, and after the preset base station Ro is set as the origin, the position coordinate of the preset base station Ro is (0,0,0), and the longitude, latitude, and altitude of the preset base station Rx may be converted into the position coordinate based on the position coordinate of the preset base station Ro, and the longitude, latitude, and altitude of the preset base station Ry may be converted into the position coordinate; then, according to the position coordinates of the Ro, Rx and Ry of the preset base station, the distance l between the Ro and Rx of the preset base station is calculated_oxDistance l between predetermined base station Ro and predetermined base station Ry_oy。

In a possible implementation manner, the preset spatial relationship of the preset base stations Ro, Rx, and Ry in the target space may be that the connecting line is in a right-angle shape, so as to facilitate the establishment of the coordinate system. Taking an office with a target space as an office building as an example, the preset base stations Ro, Rx, and Ry may be disposed on the same horizontal plane, a connection line between the preset base station Ro and the preset base station Rx is a first straight line, a connection line between the preset base station Ro and the preset base station Rx is a second straight line, and the first straight line is perpendicular to the second straight line.

It should be noted that the above spatial relationship of the preset base stations Ro, Rx, and Ry in the target space is only an exemplary illustration, and in other possible implementations, the spatial relationship of the preset base stations Ro, Rx, and Ry in the target space may have other shapes, which is not limited thereto.

In addition, in the embodiment, three preset base stations are taken as an example to define the process of determining the current location of the terminal, but the present invention is not limited thereto, and based on the following description, those skilled in the art can determine the current location of the terminal based on four or more base stations.

In step 1032, the current location of the terminal is determined based on the first locations of the three preset base stations, the distances between the terminal and the three preset base stations, and the distances between the three preset base stations.

Referring to fig. 4, for example, the distance d from the preset base station Ro to the terminal is set_oPresetting the distance from the base station Rx to the terminal as d_xPresetting the distance from the base station Ry to the terminal as d_yAnd 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 obtained in step 1031_oxAnd the distance l between the preset base station Ro and the preset base station Ry_oyThen there is

From this, the position (x, y, z) of the terminal can be derived as:

after the current position (x, y, z) of the terminal is found, the coordinates may be converted into data corresponding to longitude, latitude, and altitude, or may be converted into data corresponding to a floor, a floor area (e.g., a room number), or the like. For example, each floor corresponds to a first coordinate range and each room number corresponds to a second coordinate range, so that the floor where the terminal is currently located and the corresponding floor area can be determined according to the current position (x, y, z) of the terminal.

In some embodiments, the firefighter location method may further include: and determining first positions of the at least three preset base stations. In the embodiment of the application, the preset position data of the preset base station can be directly obtained, and the first position of the preset base station can be determined on site to obtain the position data of the preset base station.

Specifically, referring to fig. 5, on the basis of the embodiment shown in fig. 1, the determining the first positions of the at least three preset base stations may include the following steps:

in step 1001, distances from the at least three preset base stations to at least three external base stations located outside the target space are obtained.

The at least three external base stations are base stations arranged outside the target space, and the second positions of the at least three external base stations can be determined based on a satellite positioning mode and corrected through signal transmission distances among the external base stations.

It will be appreciated that the accuracy of the position fix to the external base station can be further improved by comparing the position fix by satellite with the distance fix by signal transmission between the external base stations, thereby correcting the position fix by satellite.

In step 1002, a first position of the at least three preset base stations is determined based on the second positions of the at least three external base stations.

In this step, the method for determining the first position of each preset base station based on the second positions of the at least three external base stations may refer to the method for determining the current position of the terminal in step 103: the distances from the preset base stations to the at least three external base stations are determined, and then the first positions of the preset base stations can be determined by combining the second positions of the at least three external base stations, which will not be described in detail.

Referring to fig. 6, on the basis of the embodiment shown in fig. 5, the above method for locating a firefighter may further include:

in step 1003, preliminary locations of the at least three external base stations 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 locations.

Illustratively, the preliminary locations of the at least three external base stations may be determined by one or more of the Beidou satellite positioning System (COMPASS), the Global Positioning System (GPS), the Galileo satellite positioning System (GALILEO), the 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.

After the initial positions of at least three external base stations are determined, the first distance between two external base stations can be calculated according to the longitude, the latitude and the altitude of any two external base station initial positions.

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 1004, a second distance between each two of the at least three external base stations is determined according to a signal transmission time between each two of the at least three external base stations.

Wherein, signal transmission can be carried out between any two external base stations, such as UWB signals. In particular, the second distance between two external base stations may be determined by the transmission time of the signal between the two external base stations in combination with the transmission speed of the signal.

Illustratively, taking UWB signals as an example, the second distance between the external base stations may be determined by one external base station broadcasting signals outward, and the external base stations receiving and generating response signals back to the broadcast signals. For convenience of description, the external base station that transmits the broadcast signal is referred to as a master external base station, a time when the master external base station broadcasts the broadcast signal is a first time, a time when other external base stations receive the broadcast signal is a second time, a time when other external base stations transmit the response signal is a third time, and a time when the master external base station receives the response signal is a fourth time, so that the master external base station can obtain a second distance from the external base station to the master external base station based on four times corresponding to the same external base station.

In step 1005, 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 each external base station.

In a possible implementation manner, after determining the first distance and the second distance between any two external base stations, the corresponding first distance and the second distance may be compared, and the preliminary position in step 1003 is corrected according to a difference between the first distance and the second distance, so as to obtain the second position of each external base station.

Referring to fig. 7, 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. The external base stations 1,2, 3 and 4 are arranged outside the target space, four external base stations may be respectively arranged around the target space, and the four external base stations may or may not be located on a horizontal plane, which is not limited to this. In this embodiment, the four external base stations are not located 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 isAfter 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.

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. 8 shows a block diagram of a firefighter locating device provided in the embodiment of the present application, corresponding to the title recommendation method described in the above embodiment, and only the parts related to the embodiment of the present application are shown for convenience of description.

Referring to fig. 8, the firefighter locating device in the embodiment of the present application may include a broadcast receiving module 201, a distance determining module 202, and a position determining module 203.

Specifically, the broadcast receiving module 201 is configured to broadcast a distance detection signal and receive a response signal based on the distance detection signal sent by each preset base station; each preset base station is preset at a first position in a target space;

a distance determining module 202, configured to determine distances between the terminal and at least three preset base stations based on the distance probing signals and the response signals of the at least three preset base stations; the terminal is carried by a fire fighter;

a location determining module 203, configured to determine a current location of the terminal based on distances between the terminal and the at least three preset base stations and first locations of the at least three preset base stations.

Optionally, the distance detection signal includes a broadcast time of the terminal broadcasting the distance detection signal, and the response signal includes a preset base station identifier, a first receiving time of the preset base station receiving the distance detection signal, and a first sending time of the preset base station sending the response signal; the distance determination module 202 may be specifically configured to:

and determining the distance from the terminal to a preset base station corresponding to the preset base station identification based on the broadcasting time, the first receiving time, the first sending time and the second receiving time of the terminal for receiving the response signal in each response signal.

Optionally, the distance determining module 202 may be specifically configured to:

according to S_i＝c×[(T_ia1-T_a2)-(T_ib1-T_ib2)]Calculating the distance from the terminal to each preset base station;

wherein S is_iThe distance from the terminal to a preset base station i, c is the propagation speed of a signal between the terminal and the preset base station i, T_ia1A second receiving time T for the terminal to receive a response signal sent by a preset base station i_a2For said broadcast time, T_ib1A first transmission time, T, for transmitting a response signal for a predetermined base station i_ib2And presetting the first receiving time of the base station i for receiving the distance detection signal.

Optionally, the position determining module 203 may be specifically configured to:

calculating distances between the three preset base stations based on the first positions of the three preset base stations;

and determining the current position of the terminal based on the first positions of the three preset base stations, the distance between the terminal and the three preset base stations and the distance between the three preset base stations.

Optionally, the three preset base stations are Ro, Rx and Ry, respectively, and the distance between the preset base station Ro and the preset base station Rx is l_oxThe distance between the preset base station Ro and the preset base station Ry is l_oyPresetting the distance d from the base station Ro to the terminal_oPresetting base station Rx to the terminalA distance of d_xPresetting the distance from the base station Ry to the terminal as d_yAnd the position of the terminal under the reference coordinate is (x, y, z), then

From this, the position (x, y, z) of the terminal can be derived as:

optionally, referring to fig. 9, the firefighter locating device may further include: a base station location determining module 204, configured to determine first locations of the at least three preset base stations. The base station location determining module 204 may specifically be configured to:

obtaining distances from the at least three preset base stations to at least three external base stations located outside the target space; wherein the second positions of the at least three external base stations are determined based on satellite positioning and are corrected by signal transmission distances between the external base stations;

determining first positions of the at least three preset base stations based on the second positions of the at least three external base stations.

Optionally, the method for determining the second positions of the at least three external base stations includes:

determining preliminary positions of the at least three external base stations based on satellite positioning, and determining first distances between 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 signal transmission time between each two of the at least three external base stations;

and correcting the preliminary position of each external base station based on the first distance and the second distance to obtain a second position of 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. 10, 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. 11 is a block diagram illustrating a partial structure of a mobile phone according to an embodiment of the present application. Referring to fig. 11, the cellular phone 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. 11 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. 11:

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. 11 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.

Audio circuit 460, speaker 461, microphone 462 may provide an audio interface between the user and the cell phone. The audio circuit 460 may transmit the electrical signal converted from the received audio data to the speaker 461, and convert the electrical signal into a sound signal for output by the speaker 461; on the other hand, the microphone 462 converts the collected sound signal into an electrical signal, which is received by the audio circuit 460 and converted into audio data, which is then processed by the audio data output processor 480 and then transmitted to, for example, another cellular phone via the RF circuit 410, or output to the memory 420 for further processing.

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. 11 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.