Cooperative localization using a foot-mounted inertial navigation system and ultrawideband ranging
2014 (English)In: IPIN 2014 - 2014 International Conference on Indoor Positioning and Indoor Navigation, IEEE conference proceedings, 2014, 122-131 p.Conference paper (Refereed)Text
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 scenario-based 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.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. 122-131 p.
Air navigation, Errors, Extended Kalman filters, Fire extinguishers, Fire fighting equipment, Inertial navigation systems, Navigation, Navigation systems, Ultra-wideband (UWB), Uncertainty analysis, Centralized extended kalman filters, Cooperative localization, Dead reckoning system, Inertial navigation systems (INS), Scenario-based simulations, Search and rescue operations, Transmitter and receiver, Uncertainty estimates, Indoor positioning systems
IdentifiersURN: urn:nbn:se:kth:diva-181670DOI: 10.1109/IPIN.2014.7275476ScopusID: 2-s2.0-84947918057ISBN: 9781467380546OAI: oai:DiVA.org:kth-181670DiVA: diva2:912325
5th International Conference on Indoor Positioning and Indoor Navigation, IPIN 2014, 27 October 2014 through 30 October 2014
QC 201603162016-03-162016-02-022016-03-16Bibliographically approved