A Drone Based Firefighter Supporting Navigation System Using IR-UWB and Inertial Sensor

Jung Ho Lee, Kangho Kim, Seyong Oh, Jae Bong Jung, Jong Cheol Lee, Taikjin Lee

Abstract:	This paper presents a relative positioning system between firefighters and a drone. The drone can serve a supporting function to a firefighter, because it already equips a various sensors and RF communication system. In case of working environment of a firefighter, pre-installed infrastructure is useless because of a fire. So, the proposed relative positioning system self-contained positioning system such as a Pedestrian Dead-Reckoning (PDR) and DeadReckoning (DR) for a firefighter and a drone, respectively. Also, a IR-UWB based range measurement compensate a drift error of PDR and DR on a relative positioning system. We modeled a relative positioning system based on a Kalman Filter for a robustness of a proposed system. In order to verify the proposed system, we performed experiments on 2 subjects and a drone in indoor. Also, we demonstrated its improved accuracy on relative positioning between firefighters and a drone.
Published in:	Proceedings of the 29th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2016) September 12 - 16, 2016 Oregon Convention Center Portland, Oregon
Pages:	1209 - 1213
Cite this article:	Lee, Jung Ho, Kim, Kangho, Oh, Seyong, Jung, Jae Bong, Lee, Jong Cheol, Lee, Taikjin, "A Drone Based Firefighter Supporting Navigation System Using IR-UWB and Inertial Sensor," Proceedings of the 29th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2016), Portland, Oregon, September 2016, pp. 1209-1213. https://doi.org/10.33012/2016.14761
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