Accurate Indoor Positioning of Firefighters Using Dual Foot-mounted Inertial Sensors and Inter-agent Ranging

J.-O. Nilsson, J. Rantakokko, P. Händel, I. Skog, M. Olsson, K.V.S. Hari

Abstract: A real-time cooperative localization system, utilizing dual foot-mounted low-cost inertial sensors and RF-based inter-agent ranging, has been developed. Scenario-based tests have been performed, using fully-equipped firefighters mimicking a search operation in a partly smoke-filled environment, to evaluate the performance of the TOR (Tactical lOcatoR) system. The performed tests included realistic firefighter movements and inter-agent distances, factors that are crucial in order to provide realistic evaluations of the expected performance in real-world operations. The tests indicate that the TOR system may be able to provide a position accuracy of approximately two to three meters during realistic firefighter operations, with only two smoke diving firefighters and one supervising firefighter within range.
Published in: Proceedings of IEEE/ION PLANS 2014
May 5 - 8, 2014
Hyatt Regency Hotel
Monterey, CA
Pages: 631 - 636
Cite this article: Nilsson, J.-O., Rantakokko, J., Händel, P., Skog, I., Olsson, M., Hari, K.V.S., "Accurate Indoor Positioning of Firefighters Using Dual Foot-mounted Inertial Sensors and Inter-agent Ranging," Proceedings of IEEE/ION PLANS 2014, Monterey, CA, May 2014, pp. 631-636.
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