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2014 (English)In: Proceedings of the Position, Location and Navigation Symposium (PLANS), 2014 IEEE/ION, 2014Conference paper, Published paper (Refereed)
Abstract [en]
A real-time cooperative localization system,utilizing dual foot-mounted low-cost inertial sensors and RFbasedinter-agent ranging, has been developed. Scenario-basedtests have been performed, using fully-equipped firefightersmimicking a search operation in a partly smoke-filledenvironment, to evaluate the performance of the TOR (TacticallOcatoR) system. The performed tests included realisticfirefighter movements and inter-agent distances, factors that arecrucial in order to provide realistic evaluations of the expectedperformance in real-world operations. The tests indicate that theTOR system may be able to provide a position accuracy ofapproximately two to three meters during realistic firefighteroperations, with only two smoke diving firefighters and onesupervising firefighter within range.
Keywords
Firefighter, localization, foot-mounted INS, ranging, cooperative localization
National Category
Signal Processing
Identifiers
urn:nbn:se:kth:diva-145354 (URN)10.1109/PLANS.2014.6851424 (DOI)000359380700075 ()2-s2.0-84905032801 (Scopus ID)978-147993320-4 (ISBN)
Conference
Position, Location and Navigation Symposium, 05 May - 08 May 2014,USA
Note
QC 20140619
2014-05-192014-05-192024-03-15Bibliographically approved