Foot- and Knee-mounted INS for Firefighter Localization

J. Rantakokko, P. Strömbäck, P. Anderson

Abstract:	An initial study concerning the possibilities and challenges when using zero-velocity update aided (foot-and knee-mounted) inertial navigation systems (INS) in firefighter applications has been conducted. The aim was to provide recommendations concerning the use of zero-velocity update aided INS in future firefighter localization systems. Dual foot-mounted INS were mounted on fully equipped smoke divers that moved in realistic ways mimicking operations in smoke-filled environments. The way the firefighters moves highly impacts the performance and different firefighter movements are described. The need for dual foot-mounted sensors is analyzed. Furthermore, considering crawling motions, where the possibilities of achieving regular zero-velocity updates in foot-mounted sensors are limited, the benefits of using a combination of foot- and knee-mounted INS are shown.
Published in:	Proceedings of the 2014 International Technical Meeting of The Institute of Navigation January 27 - 29, 2014 Catamaran Resort Hotel San Diego, California
Pages:	145 - 153
Cite this article:	Rantakokko, J., Strömbäck, P., Anderson, P., "Foot- and Knee-mounted INS for Firefighter Localization," Proceedings of the 2014 International Technical Meeting of The Institute of Navigation, San Diego, California, January 2014, pp. 145-153.
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