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Accurate Indoor Positioning of Firefighters using Dual Foot-mounted Inertial Sensors and Inter-agent Ranging
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing.
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Signal Processing.ORCID iD: 0000-0002-2718-0262
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-3054-6413
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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.

Place, publisher, year, edition, pages
2014.
Keyword [en]
Firefighter, localization, foot-mounted INS, ranging, cooperative localization
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-145354DOI: 10.1109/PLANS.2014.6851424ISI: 000359380700075Scopus ID: 2-s2.0-84905032801ISBN: 978-147993320-4 (print)OAI: oai:DiVA.org:kth-145354DiVA: diva2:717879
Conference
Position, Location and Navigation Symposium, 05 May - 08 May 2014,USA
Note

QC 20140619

Available from: 2014-05-19 Created: 2014-05-19 Last updated: 2015-09-18Bibliographically approved

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TOR_tests(1195 kB)436 downloads
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Händel, PeterSkog, Isaac

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