| 1. |
|
|
| 2. |
- Emilsson, Erika, et al.
(författare)
-
Multisensorsystem för positionering av rökdykare
- 2013
-
Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- I det här arbetet presenteras en pågående studie riktad mot positionering och automatisk kartering för rökdykare. Fokus är på metoder för fusion av visuella och termiska kameror samt fotmonterad tröghetsnavigation.
|
|
| 3. |
|
|
| 4. |
- Hari, K.V.S., et al.
(författare)
-
A prototype of a first-responder indoor localization system
- 2013
-
Ingår i: Journal of the Indian Institute of Science. - 0970-4140. ; 93:3, s. 511-520
-
Forskningsöversikt (refereegranskat)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.
|
|
| 5. |
- Nilsson, John-Olof, et al.
(författare)
-
Accurate Indoor Positioning of Firefighters using Dual Foot-mounted Inertial Sensors and Inter-agent Ranging
- 2014
-
Ingår i: Proceedings of the Position, Location and Navigation Symposium (PLANS), 2014 IEEE/ION. - 9781479933204
-
Konferensbidrag (refereegranskat)abstract
- A real-time cooperative localization system,utilizing dual foot-mounted low-cost inertial sensors and RFbasedinter-agent ranging, has been developed. Scenario-basedtests have been performed, using fully-equipped firefightersmimicking a search operation in a partly smoke-filledenvironment, to evaluate the performance of the TOR (TacticallOcatoR) system. The performed tests included realisticfirefighter movements and inter-agent distances, factors that arecrucial in order to provide realistic evaluations of the expectedperformance in real-world operations. The tests indicate that theTOR system may be able to provide a position accuracy ofapproximately two to three meters during realistic firefighteroperations, with only two smoke diving firefighters and onesupervising firefighter within range.
|
|
| 6. |
- Nilsson, M., et al.
(författare)
-
Indoor positioning using multi-frequency RSS with foot-mounted INS
- 2014
-
Ingår i: IPIN 2014 - 2014 International Conference on Indoor Positioning and Indoor Navigation. - : IEEE conference proceedings. - 9781467380546 ; , s. 177-186
-
Konferensbidrag (refereegranskat)abstract
- This paper presents a system which combines a zero-velocity-update-(ZUPT-)aided inertial navigation system (INS), using a foot-mounted inertial measurement unit (IMU), with opportunistic use of multi-frequency received signal strength (RSS) measurements. The system does not rely on maps or pre-collected data from surveys of the radio-frequency (RF) environment. Instead it builds its own database of collected RSS measurements during the course of the operation. New RSS measurements are continuously compared with the stored values in the database, and when the user returns to a previously visited area this can thus be detected. This enables loop-closures to be detected online and used for error drift correction. The system utilises a distributed particle simultaneous localization and mapping (DP-SLAM) algorithm which provides a flexible 2D navigation platform that can be extended with more sensors. The experimental results presented in this paper indicates that the developed RSS SLAM algorithm can, in many cases, significantly improve the positioning performance of a foot-mounted INS.
|
|
| 7. |
- Olsson, F., et al.
(författare)
-
Cooperative localization using a foot-mounted inertial navigation system and ultrawideband ranging
- 2014
-
Ingår i: IPIN 2014 - 2014 International Conference on Indoor Positioning and Indoor Navigation. - : IEEE conference proceedings. - 9781467380546 ; , s. 122-131
-
Konferensbidrag (refereegranskat)abstract
- This paper aims to evaluate the performance gains that can be obtained by introducing cooperative localization in an indoor firefighter localization system, through the use of scenario-based simulations. Robust and accurate indoor localization for firefighters is a problem that is not yet resolved. Foot-mounted inertial navigation systems (INS) have been examined for first responder localization, but they have an accumulating position error that grows over time. By using ultrawideband (UWB) ranging between the firefighters and combining range measurements with position and uncertainty estimates from the foot-mounted INS via a cooperative localization approach it is possible to reduce the position error significantly. An error model for the position estimates received from single and dual foot-mounted INS is proposed based on experimental results, and it contains a scaling error which depends on the distance travelled and a heading error which grows linearly over time. The position error for dead-reckoning systems depends on the type of movement. Similarly, an error model for the UWB range measurements was designed where the range measurements experience a bias and variance, which is determined by the number of walls between the transmitter and receiver. By implementing these error models in a scenario-based simulation environment it is possible to evaluate the performance gain of different cooperative localization algorithms. A centralized extended Kalman Filter (EKF) algorithm has been implemented, and the position accuracy and heading improvements are evaluated over a smoke diving operation scenario. The cooperative localization scheme reduces the position errors by up to 70% in a scenario where a three-person smoke diver team performs a search and rescue operation.
|
|
| 8. |
- Rantakokko, Jouni, et al.
(författare)
-
Accurate and Reliable Soldier and First Responder Indoor Positioning : Multi-Sensor Systems and Cooperative Localization
- 2011
-
Ingår i: IEEE wireless communications. - : IEEE Communications Society. - 1536-1284 .- 1558-0687. ; 18:2, s. 10-18
-
Tidskriftsartikel (refereegranskat)abstract
- A robust, accurate positioning system with seamless outdoor and indoor coverage is a highly needed tool for increasing safety in emergency response and military urban operations. It must be lightweight, small, inexpensive, and power efficient, and still provide meter-level accuracy during extended operations. GPS receivers, inertial sensors, and local radio-based ranging are natural choices for a multisensor positioning system. Inertial navigation with foot-mounted sensors is suitable as the core system in GPS denied environments, since it can yield meter-level accuracies for a few minutes. However, there is still a need for additional supporting sensors to keep the accuracy at acceptable levels during the duration of typical soldier and first responder operations. Suitable aiding sensors are three-axis magnetometers, barometers, imaging sensors, Doppler radars, and ultrasonic sensors. Furthermore, cooperative positioning, where first responders exchange position and error estimates in conjunction with performing radio-based ranging, is deemed a key technology. This article provides a survey on technologies and concepts for high accuracy soldier and first responder positioning systems, with an emphasis on indoor positioning.
|
|
| 9. |
|
|
| 10. |
- Rantakokko, Jouni, et al.
(författare)
-
Positionering av krishanteringspersonal vid räddningsinsatser : redovisning av genomfört seminarium
- 2007
-
Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Genom att utveckla ett väl fungerande personburet positioneringssystem avsett för räddningspersonal kan många liv räddas vid framtida räddningsinsatser. Det gäller exempelvis vid katastrofinsatser, saneringsinsatser, polisiära och militära insatser. Ett väl fungerande robust positioneringssystem på indivvidnivå möjliggör en effektiv ledning av insatsen och ger betydligt utökade möjligheter för en lyckad, säker insats. Det ger dessutom möjlighet att i efterhand följa upp och analysera händelseförlopp under insatsen. Positioneringssystem existerar redan idag, bl a i form av satellitnavigeringssystem som GPS, men deras prestanda är vid ett stort antal räddningsinsatser sannolikt otillräckliga. Det är möjligt att väsentligt förbättra noggrannheten och tillförlitligheten för dessa system. Vinnova projekt 2006-02576 är en förstudie där positionering av krishanteringspersonal vid räddningsinsatser studeras. Denna rapport är en kompilerad form av det material som gicks igenom vid ett seminarium 2007-06-19 och är komplement till de officiella projektrapporterna TRITA-EE 2007:036 Positionering av krishanteringspersonal vid räddningsinsatser - scenarion och användarbehov TRITA-EE 2007:037 Positioning of emergency personnel in rescue operations - possibilities and vulnerabilities with existing techniques and identification of needs for future R&D
|
|
