CN104155670A - Battle tracking system and method aiming at firefighters at fire scene - Google Patents
Battle tracking system and method aiming at firefighters at fire scene Download PDFInfo
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- CN104155670A CN104155670A CN201410378251.3A CN201410378251A CN104155670A CN 104155670 A CN104155670 A CN 104155670A CN 201410378251 A CN201410378251 A CN 201410378251A CN 104155670 A CN104155670 A CN 104155670A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a battle tracking system and method aiming at firefighters at a fire scene. The system comprises shoe bodies, position labels and a fire fighting commanding system, wherein each shoe body is provided with a micro control unit, a GPS module, an inertial navigation system module, a label identifying module, an environment induction sensing module, an alarming module, a communication module and a power supply in the position of the heel of a sole; the label identifying modules are used for identifying the position labels in a building through scanning and obtaining the three-dimensional absolute coordinate values of the positions where the labels are placed; the shoe bodies are communicated with the fire fighting commanding system for data transfer through the communication modules. The battle tracking system has the benefits as follows: the positioning system is combined with the special shoes of firefighters, so that the real-time position tracking of battle firefighters at the fire scene and the real-time detection monitoring on the fire scene disaster situation can be implemented, and the real-time positions of firefighters and the fire scene disaster situation can be fed back to commanders through the communication modules in time, therefore, the commanders can control the overall situation conveniently, the safety of people's lives and properties can be guaranteed furthest, and the fire damage is reduced.
Description
Technical field
The present invention relates to locating and tracking system and method thereof, particularly a kind of operation tracker and method thereof for scene of a fire fire fighter.
Background technology
In the time of rapid urban, also brought huge fire safety evaluating hidden danger, bringing out pyric factor sharply increases, once fire occurs or rescues too lately, will bring huge loss to the people's lives and property, this has higher requirement just to the fire extinguishing rescue of public security fire-fighting.In actual scene of fire, fire fighter is with the memory route of fire building is punched in to the line of recovering, but scene of a fire inner case is complicated and changeable, not only makes the fire extinguishing efficiency of recovering low, even also may threaten inherently safe.
The development of Satellite Navigation Technique makes outdoor location service application increasingly extensive, but due to the blocking of the barriers such as buildings, indoor satellite-signal is not sharply weakened even and exist, and causes the accurate indoor positioning based on satellite-signal to realize.Also make fire-fighting command personnel cannot obtain current scene of a fire operation team member's real time position and be difficult to command, dispatch and guiding work.The patent No. is [CN 203275661U] a kind of indoor locating system for scene of a fire fire fighter, proposes to using GPS locating information as initial position, utilizes inertial navigation system to carry out the Real-time Obtaining that position estimation is realized fire fighter's indoor location.But inertial navigation system itself is affected by environment larger, and have error accumulation feature, when long-time running, positioning precision reduces greatly.And more indoor positioning based on wireless technologys such as WIFI, while occurring due to fire, are difficult to guarantee the completeness of circuit, so rely on external wireless device location technology also unreliable in scene of fire.
Application publication number is applied to the method in fireman's indoor positioning for [CN 103499808 A] by RFID tag technology, in the region that proposition may arrive interior of building personnel, arrange passive RFID tags, and indoor location coordinate and the installation direction information thereof of on Building Design drawing, demarcating each RFID label, the RFID reader of installing on the intelligent helmet of wearing by fireman is identified and is read corresponding position coordinates label.This patent adopts the ultra-high frequency RFID label recognition technology of one-to-many, according to the signal intensity collecting, coordinates and realizes indoor positioning based on related operation location algorithm program.The positioning precision of this location technology and algorithm routine close relation, there is no such ripe positioning product in the market.
Summary of the invention
In order to solve above-mentioned prior art defect and to realize above-mentioned functions, the invention provides a kind of operation tracker and method thereof for scene of a fire fire fighter, it can effectively help scene of a fire commanding to make fast precisely reasonably commander, scheduling and guide decision-making, farthest assure the safety for life and property of the people, reduce fire damage.
The object of the invention is to be achieved through the following technical solutions: a kind of operation tracker for scene of a fire fire fighter, this system comprises footwear body, location tags and fire command system;
Described footwear body includes upper of a shoe and sole, in sole heel position, is provided with micro-control unit, GPS module, inertial navigation system module, tag recognition module, environment induction sensing module, alarm module, communication module and power supply; Micro-control unit is connected respectively with GPS module, inertial navigation system module, tag recognition module, environment induction sensing module, alarm module, communication module and power supply.
Described footwear body is provided with a shift knob and an emergency help button;
Tag recognition module on described footwear body comprises a reader and an antenna, for identifying indoor absolute coordinates information; Wherein, the location tags that reader is set by antenna and interior of building carries out radio communication, realizes the identification of positional information in location tags and reads; Footwear body reads the positional information of location tags by tag recognition module;
Described fire command system, its EM is desktop computer or laptop computer PC equipment, footwear body carries out communication by communication module to this fire command system and transmits data.
Communication module on described footwear body is one of GSM, GPRS, 3G or 4G communication module.
An operation tracking for scene of a fire fire fighter, comprises the following steps:
(1) fire-fighting detachment is when buildings is disposed fire fighting device or made plan of fire fighting, in interior of building room and on passage, be convenient to fire fighter trample through place, straight line at corner position installation position label, writes the absolute three-dimensional coordinate information of correspondence position with 10 meters of intervals, turning in label;
(2) receive after fire alarm, fire fighter presses the shift knob arranging on footwear body, starts location and follows the tracks of and the condition of a disaster detecting pattern; Commanding opens the buildings tomograph that the scene of a fire occurs on fire command system, and starts positional information and the environmental index data that receive fire fighter, starts to receive after receive frequency is set;
(3) the footwear body of positioning system is under the control of micro-control unit, autonomous regioselective pattern: in the very strong situation of satellite-signal, start separately GPS station-keeping mode; A little less than satellite-signal or while not existing, automatically switch to inertial navigation system, and using the GPS locating information of previous moment as initial position, continue location; Enter after buildings, when fire fighter is during near optional position label, tag recognition module on footwear body is just read and is deciphered it and obtains absolute three-dimensional coordinate information, the closer to location tags, the positional information of obtaining is more accurate, then the new initial position message of micro-control unit using obtained three-dimensional coordinate as inertial navigation system, carries out high-precision inertial navigation location continuously.
(4) environment induction sensing module is under the control of micro-control unit, start temperature sensor, gas sensor, humidity sensor and baroceptor in this module, start respectively the temperature at detection of fires scene, the environmental index of the type of multiple gases and concentration, humidity and atmospheric pressure value; Utilize described gas sensor to identify and detect its concentration to the gas type of scene of fire, when carbon monoxide toxic and harmful concentration over-standard, micro-control unit sends the instruction that exceeds standard of corresponding gas to alarm module, trigger voice alarm, inform fire fighter exceed standard gas type and concentration value, notify fire fighter to carry out and withdraw or protect preparation;
(5) micro-control unit is sent to fire command system by the environmental index data of fire fighter's three dimensional local information and expression scene of a fire the condition of a disaster by communication module according to set frequency; Now, fire fighter position intuitively shows in the tomograph of fire command system; According to the environmental index data that receive, fire command system sends the warning information of blueness/yellow/orange/red different stage automatically;
(6) scene of a fire the condition of a disaster that commanding feeds back in time according to fire fighter, further analyzes the scene of a fire state of affairs, carries out orderly commander, guiding work; When fire missions, on three-dimensional plot, find fire fighter's position and occur extremely, determine rapidly near the possible location tags of fire fighter, and notify fire fighter to carry out position corrigendum in the fastest mode, obtain new initial position message and continue hi-Fix; When fire-fighting command personnel receive environmental index, exceed standard after alarm, according to alert level, to fire fighter, assign and withdraw or protect command adapted thereto;
(7) fire fighter is in the Campaign Process of the scene of a fire, as runs into pop-up threats, continue to support or the situation of rescue under, press rapidly emergency help button; Distress call is sent to fire command system by micro-control unit immediately by communication module; Commanding carries out rapidly rescue guiding and rescue dispatch decision-making after receiving calling for help information;
(8) after the disaster relief all work in the scene of a fire complete, fire fighter presses shift knob, closes the functional mode of footwear body.
Beneficial effect, owing to having adopted such scheme: by GPS location technology, inertial navigation technique and radio-frequency technique triplicity, realize the hi-Fix of indoor and outdoor; The environmental index of simultaneously utilizing sensing technology to realize scene of fire detects monitoring in real time; Fire fighter's positional information is passed to commanding by communication module together with the condition of a disaster environmental index of the scene of a fire, allow commanding grasp in time the scene of a fire overall situation, thereby improve the decision-making capability of commander, scheduling and guiding.
1. this system adopts RFID radio-frequency technique contactless, automatic identification, and its identification work need not manual intervention, and can work in various rugged surroundings.Utilize this radio-frequency technique, when identification module is during near label, once only identify a label, obtain corresponding positional information, correct in time the positioning result of inertial navigation system, improved greatly indoor position accuracy;
2. this system is GPS location technology, inertial navigation location technology and radio-frequency technique triplicity, can realize real-time, high-precision indoor and outdoor location, ensures that fire-fighting command personnel follow the tracks of fire fighter's real time position;
3. this system has also been combined with sensing technology, utilizes temperature sensor, multi-gas sensor, humidity sensor, baroceptor in environment induction sensor to detect respectively the environmental index such as temperature, gas type and concentration, humidity and atmospheric pressure value in the scene of a fire.By communication module, these environmental index data are sent to commanding, make fire-fighting command personnel can grasp in time scene of a fire the condition of a disaster;
4. this system and method thereof are combined with footwear, when ensureing that monitoring is detected with scene of a fire the condition of a disaster in location in real time, because the hardware device without carrying extra position monitor has improved fire fighter's Operational Effectiveness Rat largely;
5. be combined with footwear, its simplicity of design, it is convenient to install, because having reduced greatly manufacturing cost without the extra carrier hardware of buying location and the condition of a disaster measuring ability;
6. this system and method effectively helps fire-fighting command personnel to grasp in time fire-fighting combatant's the real-time the condition of a disaster of real time position and the scene of a fire, plan as a whole to hold the scene of a fire overall situation, thereby improve to a great extent the decision-making capability of its commander, scheduling and guiding, assure the safety for life and property of the people, as much as possible reduce fire damage.
Accompanying drawing explanation
Fig. 1 is the general structure block diagram of system of the present invention.
Fig. 2 is the operation tracking process flow diagram of system of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Embodiment 1: in Fig. 1, a kind of operation tracker for scene of a fire fire fighter, this system comprises footwear body, location tags and fire command system, described footwear body includes upper of a shoe and sole, in sole heel position, is provided with micro-control unit, GPS module, inertial navigation system module, tag recognition module, environment induction sensing module, alarm module, communication module and power supply.Micro-control unit is connected respectively with GPS module, inertial navigation system module, tag recognition module, environment induction sensing module, alarm module, communication module and power supply.
Tag recognition module on described footwear body comprises a reader and an antenna, for identifying indoor absolute coordinates information; Wherein, the location tags that reader is set by antenna and interior of building carries out radio communication, realizes the identification of positional information in location tags and reads; Footwear body reads the positional information of location tags by tag recognition module.
Described location tags is RFID label, the three-dimensional coordinate information that comprises location point.
Described fire command system, its EM is the PC equipment such as desktop computer or laptop computer.On this PC equipment, load fire command system, comprise buildings tomograph, the space distribution that shows the inside and outside fire fighting device of buildings and interior location label directly perceived on tomograph.Described footwear body transmits data by communication module to this fire command system communication.
At footwear body, be also provided with charging socket, this charging socket is connected with the power supply in footwear body by flexible circuit conductor, and wired connection external power source.
At footwear body, be also provided with a button groups, this button groups comprises a shift knob and an emergency help button.Described shift knob connects micro-control unit by wire, for controlling the state model of footwear body location and the condition of a disaster measuring ability; Described emergency help button is connected with micro-control unit, when being badly in need of supporting, rescuing for run into pop-up threats as operation fire fighter, by communication module, to commanding, transmits assistance message.
GPS module on described footwear body is for outdoor positioning, and inertial navigation system module is for the indoor or faint environmental positioning of satellite-signal, and tag recognition module is used for identifying indoor absolute location information.Due to indoor satellite-signal, die-off even and to exist, cause global position system cannot use in indoor environment, and inertial navigation system is because of affected by the factors such as magnetic field of environment, and have error accumulation feature, long positioning precision certainly will reduce greatly.Therefore when adopting inertial navigation system to carry out indoor positioning, need to for it, reset initial position to eliminate cumulative errors at reasonable time.When fire-fighting detachment disposes fire fighting device or makes plan of fire fighting at buildings, at interior of building, straight line place is by 10 meters of intervals, turning at corner position installation position label, and the layout scheme of label can be determined by actual demand, and the unique identifier of this label is the three-dimensional coordinate of this position.The tag recognition module in box is followed the tracks of in described footwear body fire-fighting, when this location tags of fire fighter's Close approach of fighting in the scene of a fire, can also decipher and obtain current three-dimensional coordinate by scanning recognition, distance the closer to, the positional information of obtaining is more accurate, then the new initial position message using it as inertial navigation system.Thereby realize the three-dimensional position monitoring of commanding to scene of a fire fire-fighting combatant.
Environment induction sensing module on described footwear body comprises temperature sensor, gas sensor, humidity sensor, baroceptor, is respectively used to type and the environmental index such as concentration, humidity and atmospheric pressure value of detected temperatures, multiple gases.Scene of fire is often gathered carbon monoxide, carbon dioxide and other multiple toxic and harmfuls, and identification and the concentration thereof of utilizing this multi-gas sensor to carry out scene of a fire gas type detect.Environment induction sensing module gathers environmental index data and by communication module, is transmitted to commanding by micro-control unit, is convenient to fire-fighting command personnel and grasps in real time scene of a fire the condition of a disaster.
Communication module on described footwear body is one of GSM, GPRS, 3G or 4G communication module.
An operation tracking for scene of a fire fire fighter, comprises the following steps:
(1) fire-fighting detachment is when buildings is disposed fire fighting device or made plan of fire fighting, in interior of building room and on passage, be convenient to fire fighter trample through position, straight line at flex point installation position label, writes the absolute three-dimensional coordinate information of correspondence position with 10 meters of intervals, turning in label.
(2) receive after fire alarm, fire fighter presses the shift knob arranging on footwear body, starts location and follows the tracks of and the condition of a disaster detecting pattern; Commanding opens the buildings tomograph that the scene of a fire occurs on fire command system, and starts positional information and the environmental index data that receive fire fighter, starts to receive after receive frequency is set.
(3) the footwear body of positioning system is under the control of micro-control unit, autonomous regioselective pattern: in the very strong situation of satellite-signal, start separately GPS station-keeping mode; A little less than satellite-signal or while not existing, automatically switch to inertial navigation system, and using the GPS locating information of previous moment as initial position, continue location.Enter after buildings, when fire fighter is during near optional position label, tag recognition module on footwear body is just read and is deciphered it and obtains absolute three-dimensional coordinate information, the closer to location tags, the positional information of obtaining is more accurate, then the new initial position message of micro-control unit using obtained three-dimensional coordinate as inertial navigation system, carries out high-precision inertial navigation location continuously.
(4) environment induction sensing module is under the control of micro-control unit, start temperature sensor, gas sensor, humidity sensor, baroceptor in this module, start respectively the temperature at detection of fires scene, the environmental index of the type of multiple gases and concentration, humidity and atmospheric pressure value.Utilize the gas type of described gas sensor team scene of fire to identify and detect its concentration, when the toxic and harmful concentration over-standards such as carbon monoxide, micro-control unit sends the instruction that exceeds standard of corresponding gas to alarm module, trigger voice alarm, inform fire fighter exceed standard gas type and concentration value, notify fire fighter to carry out and withdraw or protect preparation.
(5) micro-control unit is sent to fire command system by the environmental index data of fire fighter's three dimensional local information and expression scene of a fire the condition of a disaster by communication module according to set frequency.Now, fire fighter position intuitively shows in the tomograph of fire command system; According to the environmental index data that receive, fire command system sends the warning information of blueness/yellow/orange/red different stage automatically.
(6) scene of a fire the condition of a disaster that commanding feeds back in time according to fire fighter, further analyzes the scene of a fire state of affairs, carries out orderly commander, guiding work.When fire missions, on three-dimensional plot, find fire fighter's position and occur extremely, determine rapidly near the possible location tags of fire fighter, and notify fire fighter to carry out position corrigendum in the fastest mode, obtain new initial position message and continue hi-Fix; When fire-fighting command personnel receive environmental index, exceed standard after alarm, according to alert level, to fire fighter, assign and withdraw or the command adapted thereto such as protection.
(7) after the disaster relief all work in the scene of a fire complete, fire fighter presses shift knob, closes the functional mode of footwear body.
Embodiment 2: fire fighter is in the Campaign Process of the scene of a fire, run into pop-up threats, be badly in need of support and the rescue of extraneous strength, now fire fighter just can press rapidly emergency help button, distress call is sent to fire command system by micro-control unit immediately by communication module, the receive frequency that its transmit mechanism is not set by fire command system affects, but takes to trigger the pattern sending; After receiving calling for help information, commanding carries out the decision-making of rescue guiding and rescue dispatch with prestissimo.Same with it and embodiment 1.
Claims (2)
1. for scene of a fire fire fighter's an operation tracker, it is characterized in that: this system comprises footwear body, location tags and fire command system; Described footwear body includes upper of a shoe and sole, in sole heel position, is provided with micro-control unit, GPS module, inertial navigation system module, tag recognition module, environment induction sensing module, alarm module, communication module and power supply; Micro-control unit is connected respectively with GPS module, inertial navigation system module, tag recognition module, environment induction sensing module, alarm module, communication module and power supply; On footwear body, be provided with a shift knob and an emergency help button;
(1) the tag recognition module on described footwear body comprises a reader and an antenna, for identifying indoor absolute coordinates information; Wherein, the location tags that reader is set by antenna and interior of building carries out radio communication, realizes the identification of positional information in location tags and reads; Footwear body reads the positional information of location tags by tag recognition module;
(2) described fire command system, its EM is the PC equipment such as desktop computer or laptop computer, footwear body carries out communication by communication module to this fire command system and transmits data.
2. a kind of operation tracking for scene of a fire fire fighter according to claim 1, is characterized in that, comprises the following steps:
(1) fire-fighting detachment is when buildings is disposed fire fighting device or made plan of fire fighting, in interior of building room and on passage, be convenient to fire fighter trample through place, straight line at corner position installation position label, writes the absolute three-dimensional coordinate information of correspondence position with 10 meters of intervals, turning in label;
(2) receive after fire alarm, fire fighter presses the shift knob arranging on footwear body, starts location and follows the tracks of and the condition of a disaster detecting pattern; Commanding opens the buildings tomograph that the scene of a fire occurs on fire command system, and starts positional information and the environmental index data that receive fire fighter, starts to receive after receive frequency is set;
(3) the footwear body of positioning system is under the control of micro-control unit, autonomous regioselective pattern: in the very strong situation of satellite-signal, start separately GPS station-keeping mode; A little less than satellite-signal or while not existing, automatically switch to inertial navigation system, and using the GPS locating information of previous moment as initial position, continue location; Enter after buildings, when fire fighter is during near optional position label, tag recognition module on footwear body is just read and is deciphered it and obtains absolute three-dimensional coordinate information, the closer to location tags, the positional information of obtaining is more accurate, then the new initial position message of micro-control unit using obtained three-dimensional coordinate as inertial navigation system, carries out high-precision inertial navigation location continuously;
(4) environment induction sensing module is under the control of micro-control unit, start temperature sensor, gas sensor, humidity sensor, baroceptor in this module, start respectively the temperature at detection of fires scene, the environmental index of the type of multiple gases and concentration, humidity and atmospheric pressure value; Utilize the gas type of described gas sensor team scene of fire to identify and detect its concentration, when the toxic and harmful concentration over-standards such as carbon monoxide, micro-control unit sends the instruction that exceeds standard of corresponding gas to alarm module, trigger voice alarm, inform fire fighter exceed standard gas type and concentration value, notify fire fighter to carry out and withdraw or protect preparation;
(5) micro-control unit is sent to fire command system by the environmental index data of fire fighter's three dimensional local information and expression scene of a fire the condition of a disaster by communication module according to set frequency; Now, fire fighter position intuitively shows in the tomograph of fire command system; According to the environmental index data that receive, fire command system sends the warning information of blueness/yellow/orange/red different stage automatically;
(6) scene of a fire the condition of a disaster that commanding feeds back in time according to fire fighter, further analyzes the scene of a fire state of affairs, carries out orderly commander, guiding work; When fire missions, on three-dimensional plot, find fire fighter's position and occur extremely, determine rapidly near the possible location tags of fire fighter, and notify fire fighter to carry out position corrigendum in the fastest mode, obtain new initial position message and continue hi-Fix; When fire-fighting command personnel receive environmental index, exceed standard after alarm, according to alert level, to fire fighter, assign the command adapted thereto of withdrawing or protecting;
(7) fire fighter is in the Campaign Process of the scene of a fire, as runs into pop-up threats, be badly in need of supporting or the situation of rescue under, press rapidly the emergency help button arranging on footwear body; Distress call is sent to fire command system by micro-control unit immediately by communication module; Commanding carries out rapidly rescue guiding and rescue dispatch decision-making after receiving calling for help information;
(8) after the disaster relief all work in the scene of a fire complete, fire fighter presses shift knob, closes the functional mode of footwear body.
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| CN201410378251.3A CN104155670B (en) | 2014-08-01 | 2014-08-01 | System and method are followed the tracks of in a kind of operation for scene of a fire fire fighter |
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| CN201410378251.3A CN104155670B (en) | 2014-08-01 | 2014-08-01 | System and method are followed the tracks of in a kind of operation for scene of a fire fire fighter |
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| CN105204054A (en) * | 2015-10-16 | 2015-12-30 | 北京机械设备研究所 | Cluster positioning and commanding system |
| CN105205986A (en) * | 2015-07-30 | 2015-12-30 | 浙江万里学院 | Fire scene firefighter three-dimensional positioning emergency rescue system |
| CN106405593A (en) * | 2016-10-26 | 2017-02-15 | 深圳市航天华拓科技有限公司 | Multi-mode positioning personnel safety management terminal and method |
| CN106679664A (en) * | 2016-07-12 | 2017-05-17 | 三维通信股份有限公司 | LTE and PDR-based fire-fighting indoor positioning and track navigating method and system |
| CN107301766A (en) * | 2017-05-19 | 2017-10-27 | 芜湖普唯特智能装备有限公司 | A kind of fire scene rescue personnel managing and control system and its application method |
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| CN110859352A (en) * | 2019-11-12 | 2020-03-06 | 陕西禾宁电子科技有限公司 | AR fire helmet based on distributed network |
| CN113093601A (en) * | 2021-03-30 | 2021-07-09 | 中琪华安(北京)科技有限公司 | Close-range aviation firepower support system and method |
| CN114200495A (en) * | 2022-02-17 | 2022-03-18 | 江苏德一佳安防科技有限公司 | Accurate positioning method and system for firefighter in full-task scene |
| CN115662165A (en) * | 2022-10-22 | 2023-01-31 | 浙江大虫科技股份有限公司 | Fire safety cockpit system and fire engine route system guiding method |
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