A beacon, comprising: a beacon emitter (170, 270) configured to emit beacon signals, the beacon signals being thermal signals or infrared signals; an infrared link emitter configured to emit infrared link signals having a wavelength different from that of the beacon signals emitted by the beacon emitter; an infrared link detector configured to detect infrared link signals; a memory configured to store a delay time; a clock configured to generate a clock cycle signal; and an indicator light emitting device; a microcontroller configured to, in response to receiving an infrared link signal from an external beacon via the infrared link detector, wherein the infrared link signal includes a signaling code, clock synchronization data, an identifier of the external beacon and a verification code: verify the identifier of the external beacon and a mathematical integrity of the infrared link signal based on the verification code; in response to a verification of the identifier of the external beacon and the mathematical integrity of the infrared link signal: adjust the clock to be synchronized with a clock of the external beacon, according to the clock synchronization data; store the signaling code in the memory; control the indicator light emitting device to emit visible light in a first flashing pattern; and when the clock cycle signal generated by the clock indicates that it is a starting time of a clock cycle period, control the beacon emitter to emit a thermal or infrared beacon signal including the signaling code with the delay time relative to the starting time of the clock cycle period; and in response to an unsuccessful verification of at least one of the identifier of the external beacon or mathematical integrity of the infrared link signal: control the indicator light emitting device to emit visible light in a second flashing pattern. a beacon emitter (170, 270) configured to emit beacon signals, the beacon signals being thermal signals or infrared signals; an infrared link emitter configured to emit infrared link signals having a wavelength different from that of the beacon signals emitted by the beacon emitter; an infrared link detector configured to detect infrared link signals; a memory configured to store a delay time; a clock configured to generate a clock cycle signal; and an indicator light emitting device; a microcontroller configured to, in response to receiving an infrared link signal from an external beacon via the infrared link detector, wherein the infrared link signal includes a signaling code, clock synchronization data, an identifier of the external beacon and a verification code: verify the identifier of the external beacon and a mathematical integrity of the infrared link signal based on the verification code; in response to a verification of the identifier of the external beacon and the mathematical integrity of the infrared link signal: adjust the clock to be synchronized with a clock of the external beacon, according to the clock synchronization data; store the signaling code in the memory; control the indicator light emitting device to emit visible light in a first flashing pattern; and when the clock cycle signal generated by the clock indicates that it is a starting time of a clock cycle period, control the beacon emitter to emit a thermal or infrared beacon signal including the signaling code with the delay time relative to the starting time of the clock cycle period; and in response to an unsuccessful verification of at least one of the identifier of the external beacon or mathematical integrity of the infrared link signal: control the indicator light emitting device to emit visible light in a second flashing pattern. verify the identifier of the external beacon and a mathematical integrity of the infrared link signal based on the verification code; in response to a verification of the identifier of the external beacon and the mathematical integrity of the infrared link signal: adjust the clock to be synchronized with a clock of the external beacon, according to the clock synchronization data; store the signaling code in the memory; control the indicator light emitting device to emit visible light in a first flashing pattern; and when the clock cycle signal generated by the clock indicates that it is a starting time of a clock cycle period, control the beacon emitter to emit a thermal or infrared beacon signal including the signaling code with the delay time relative to the starting time of the clock cycle period; and adjust the clock to be synchronized with a clock of the external beacon, according to the clock synchronization data; store the signaling code in the memory; control the indicator light emitting device to emit visible light in a first flashing pattern; and when the clock cycle signal generated by the clock indicates that it is a starting time of a clock cycle period, control the beacon emitter to emit a thermal or infrared beacon signal including the signaling code with the delay time relative to the starting time of the clock cycle period; and in response to an unsuccessful verification of at least one of the identifier of the external beacon or mathematical integrity of the infrared link signal: control the indicator light emitting device to emit visible light in a second flashing pattern.