Research on UWB-based cooperative relay positioning mechanism for firefighters

When firefighters go deep into the fire for rescue, they may be in an area where the positioning system coverage is weak, resulting in inaccurate positioning. To solve this problem, a relay co-location mechanism based on ultra-wideband (UWB) is proposed. For priority targets that can communicate with three or more UWB base stations, a fusion location algorithm of the UWB/inertial navigation system is designed to eliminate non-line-of-sight errors of UWB ranging values and ensure accurate target positioning. The second and third priority targets that cannot communicate with a sufficient number of UWB base stations are grouped, and then a moving anchor selection algorithm based on distance is designed to select a certain number of positioning tags as moving anchor points and combine them with UWB base stations to form a new reference node. Experimental results show that the localisation accuracy of the proposed algorithm ranges from 12 to 18 cm.