A Bayesian Fusion Algorithm for Precision Personnel Location in Indoor Environments

A. Cavanaugh, M. Lowe, D. Cyganski, R.J. Duckworth

Abstract:	An RF-based system is being developed at WPI for tracking of first responders and other personnel in indoor environments. The system assumes no existing infrastructure, no pre-characterization of the area of operation and is designed for spectral compliance and rapid deployment. A 3D location system, based on a multi-carrier signal using a novel signal fusion algorithm has been previously described [1] and has demonstrated sub-meter positioning accuracy of a transmitter, even in difficult indoor environments with high multi-path, with all receivers placed outside the building. The development of new hardware supporting two-way transactions has driven development of new signal fusion algorithms, as well as allowing tight integration with information from an on-board high-quality MEMs IMU system. This paper reports on the development of new processing and filtering techniques that were designed to exploit the new hardware capabilities and that yield performance improvements in comparison with our previously demonstrated systems.
Published in:	Proceedings of the 2011 International Technical Meeting of The Institute of Navigation January 24 - 26, 2011 Catamaran Resort Hotel San Diego, CA
Pages:	397 - 403
Cite this article:	Cavanaugh, A., Lowe, M., Cyganski, D., Duckworth, R.J., "A Bayesian Fusion Algorithm for Precision Personnel Location in Indoor Environments," Proceedings of the 2011 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2011, pp. 397-403.
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