A prototype of a first-responder indoor localization system
2013 (English)In: Journal of the Indian Institute of Science, ISSN 0970-4140, Vol. 93, no 3, 511-520 p.Article, review/survey (Refereed) Published
In this paper we present an approach to build a prototype. model of a first-responder localization system intended for disaster relief operations. This system is useful to monitor and track the positions of the first-responders in an indoor environment, where GPS is not available. Each member of the first responder team is equipped with two zero-velocity-update-aided inertial navigation systems, one on each foot, a camera mounted on a helmet, and a processing platform strapped around the waist of the first responder, which fuses the data from the different sensors. The fusion algorithm runs real-time on the processing platform. The video is also processed using the DSP core of the computing machine. The processed data consisting of position, velocity, heading information along with video streams is transmitted to the command and control system via a local infrastructure WiFi network. A centralized cooperative localization algorithm, utilizing the information from Ultra Wideband based inter-agent ranging devices combined with the position estimates and uncertainties of each first responder, has also been implemented.
Place, publisher, year, edition, pages
2013. Vol. 93, no 3, 511-520 p.
Personal Navigation System, Inertial Measurement Unit, Kalman Filter, Indoor Navigation, Cooperative Localization
IdentifiersURN: urn:nbn:se:kth:diva-134919ISI: 000327113600010ScopusID: 2-s2.0-84886650929OAI: oai:DiVA.org:kth-134919DiVA: diva2:668768
QC 201401132013-12-022013-12-022014-01-13Bibliographically approved