Accurate indoor positioning of firefighters using dual foot-mounted inertial sensors and inter-agent ranging

Nilsson, John-Olof; Rantakokko, Jouni; Händel, Peter; Skog, Isaac; Ohlsson, Martin; Hari, K.V.S.

doi:10.1109/plans.2014.6851424

Cited by 54 publications

(34 citation statements)

References 22 publications

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“…Very few measurement results are available in the open literature, which could be used to validate these results. The TOR system [9,20], has shown to be accurate to within 1.5 -2 meters during a realistic firefighter search operation, although the trajectory was different. However, in a few situations the TOR system experienced an abrupt, large heading error which will heavily decrease the accuracy.…”

Section: Discussionmentioning

confidence: 99%

Cooperative localization using a foot-mounted inertial navigation system and ultrawideband ranging

Olsson

Rantakokko

Nygårds

2014

2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN)

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This paper aims to evaluate the performance gains that can be obtained by introducing cooperative localization in an indoor firefighter localization system, through the use of scenariobased simulations. Robust and accurate indoor localization for firefighters is a problem that is not yet resolved. Foot-mounted inertial navigation systems (INS) have been examined for first responder localization, but they have an accumulating position error that grows over time. By using ultrawideband (UWB) ranging between the firefighters and combining range measurements with position and uncertainty estimates from the foot-mounted INS via a cooperative localization approach it is possible to reduce the position error significantly.An error model for the position estimates received from single and dual foot-mounted INS is proposed based on experimental results, and it contains a scaling error which depends on the distance travelled and a heading error which grows linearly over time. The position error for dead-reckoning systems depends on the type of movement. Similarly, an error model for the UWB range measurements was designed where the range measurements experience a bias and variance, which is determined by the number of walls between the transmitter and receiver.By implementing these error models in a scenario-based simulation environment it is possible to evaluate the performance gain of different cooperative localization algorithms. A centralized extended Kalman Filter (EKF) algorithm has been implemented, and the position accuracy and heading improvements are evaluated over a smoke diving operation scenario. The cooperative localization scheme reduces the position errors by up to 70% in a scenario where a three-person smoke diver team performs a search and rescue operation.

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Section: Discussionmentioning

confidence: 99%

Cooperative localization using a foot-mounted inertial navigation system and ultrawideband ranging

Olsson

Rantakokko

Nygårds

2014

2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN)

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“…represents the size of vector . The dataset is then normalized as in (4) so that all data are bounded by a unit hypercube. Therefore, the vector / has a range of values of [0, 1].…”

Section: A Zero-velocity Update (Zupt)mentioning

confidence: 99%

“…Distinctively, the third row denotes differences in time for both phases. The stationary phase took a longer time to complete because the number of samples to be processed in Equation (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13) equals to the window size, 40. This is a result of Equation (3) where all the acceleration samples at stationary phase are within the tolerance.…”

Section: )mentioning

confidence: 99%

Real-time PDR based on resource-constrained embedded platform

Muhammad

Salčić

Wang

2015

2015 9th International Conference on Sensing Technology (ICST)

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Standalone inertial navigation system (INS) in indoor pedestrian positioning is becoming imminent as the researchers exploit its small form factor and low power requirement. This will result in small-size, low-power wearable devices that are not obtrusive to the users and yet provide sufficiently accurate pedestrian localization and tracking within. At this stage, most of the recent INS-based indoor pedestrian positioning systems still have to interface with other computing machines such as a laptop or smartphone to perform computationally demanding algorithms. Most of the existing techniques operate in off-line and not real-time mode. In this paper, we propose a real-time indoor pedestrian dead-reckoning system based on embedded INS. The results show that our system successfully track the distance travelled by pedestrians up to an error of three percent with a position update interval less than a second.

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“…Foot-mounted inertial navigation systems (INS) are an interesting option for these applications but they may on occasion suffer a heading drift that have a detrimental effect on the accuracy [2]. Hence, in indoor safety-critical applications supporting sensors are needed.…”

Section: Introductionmentioning

confidence: 99%

Indoor localization using multi-frequency RSS

Skoglund

Hendeby

Nygårds

et al. 2016

2016 IEEE/ION Position, Location and Navigation Symposium (PLANS)

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Abstract-This paper investigates the usefulness of multifrequency received signal strength (RSS) for indoor localization. A collected set of data from four sites containing 7 frequencies from dual receivers and a high accuracy reference positioning system is presented. The collected data is also made publicly available through ResearchGate. The data is analyzed with respect to spatial variations using Gaussian processes (GP). The results show that there are more rapid signal variations across corridors than along them. The uniqueness of RSS fingerprints is analyzed suggesting that sequences of measurements in smoothing, or smoothing-like, algorithms that can handle temporary position ambiguities are likely the best choice for localization applications.

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Accurate indoor positioning of firefighters using dual foot-mounted inertial sensors and inter-agent ranging

Cited by 54 publications

References 22 publications

Cooperative localization using a foot-mounted inertial navigation system and ultrawideband ranging

Cooperative localization using a foot-mounted inertial navigation system and ultrawideband ranging

Real-time PDR based on resource-constrained embedded platform

Indoor localization using multi-frequency RSS

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