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

Nilsson, JO and Rantakokko, J and Handel, P and Skog, I and Ohlsson, M and Hari, KVS (2014) Accurate Indoor Positioning of Firefighters using Dual Foot-mounted Inertial Sensors and Inter-agent Ranging. In: IEEE/ION Position, Location and Navigation Symposium (PLANS), MAY 05-08, 2014, Monterey, CA, pp. 631-636.

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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.

Item Type: Conference Proceedings
Series.: IEEE-ION Position Location and Navigation Symposium
Publisher: IEEE
Additional Information: Copy right for this article belongs to the IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Keywords: Firefighter; localization; foot-mounted INS; ranging; cooperative localization
Department/Centre: Division of Electrical Sciences > Electrical Communication Engineering
Date Deposited: 24 Sep 2015 06:50
Last Modified: 24 Sep 2015 06:50
URI: http://eprints.iisc.ac.in/id/eprint/52425

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