Hari, KVS and Nilsson, John-Olof and Skog, Isaac and Haendel, Peter and Rantakokko, Jouni and Prateek, GV (2013) A prototype of a first-responder indoor localization system. In: Journal of the Indian Institute of Science, 93 (3). pp. 511-520.
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Abstract
In this paper we present an approach to build a prototype. model of a first-responder localization system intended for disaster relief operations. This system is useful to monitor and track the positions of the first-responders in an indoor environment, where GPS is not available. Each member of the first responder team is equipped with two zero-velocity-update-aided inertial navigation systems, one on each foot, a camera mounted on a helmet, and a processing platform strapped around the waist of the first responder, which fuses the data from the different sensors. The fusion algorithm runs real-time on the processing platform. The video is also processed using the DSP core of the computing machine. The processed data consisting of position, velocity, heading information along with video streams is transmitted to the command and control system via a local infrastructure WiFi network. A centralized cooperative localization algorithm, utilizing the information from Ultra Wideband based inter-agent ranging devices combined with the position estimates and uncertainties of each first responder, has also been implemented.
| Item Type: | Journal Article |
|---|---|
| Publication: | Journal of the Indian Institute of Science |
| Publisher: | Indian Institute of Science |
| Additional Information: | Copyright of this article belongs to Indian Institute of Science. |
| Keywords: | Personal Navigation System; Inertial Measurement Unit; Kalman Filter; Indoor Navigation; Cooperative Localization |
| Department/Centre: | Division of Electrical Sciences > Electrical Communication Engineering |
| Date Deposited: | 02 Jan 2014 06:40 |
| Last Modified: | 02 Jan 2014 06:40 |
| URI: | http://eprints.iisc.ac.in/id/eprint/48121 |
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