Accurate Indoor Positioning of Firefighters using Dual Foot-mounted Inertial Sensors and Inter-agent Ranging
2014 (English)In: Proceedings of the Position, Location and Navigation Symposium (PLANS), 2014 IEEE/ION, 2014Conference paper (Refereed)
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
Firefighter, localization, foot-mounted INS, ranging, cooperative localization
IdentifiersURN: urn:nbn:se:kth:diva-145354DOI: 10.1109/PLANS.2014.6851424ISI: 000359380700075ScopusID: 2-s2.0-84905032801ISBN: 978-147993320-4OAI: oai:DiVA.org:kth-145354DiVA: diva2:717879
Position, Location and Navigation Symposium, 05 May - 08 May 2014,USA
QC 201406192014-05-192014-05-192015-09-18Bibliographically approved