Precision Indoor Personnel Location and Tracking for Emergency Responders Technology Workshop, August 6-7 2007 Worcester Polytechnic Institute, Worcester, MA Positioning of incident responders - scenarios, user requirements and enablers Positioning of incident responders - scenarios, user requirements and enablers Jouni Rantakokko Swedish Defence Research Agency Jouni Rantakokko Swedish Defence Research Agency This work was funded by the − Swedish Governmental Agency for Innovation Systems − Swedish Emergency Management Agency − Swedish Defence Materiel Administration
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Precision Indoor Personnel Location and Tracking for Emergency RespondersTechnology Workshop, August 6-7 2007
Worcester Polytechnic Institute, Worcester, MA
Positioning of incident responders- scenarios, user requirements and enablers
Positioning of incident responders- scenarios, user requirements and enablers
Jouni RantakokkoSwedish Defence Research Agency
Jouni RantakokkoSwedish Defence Research Agency
This work was funded by the− Swedish Governmental Agency for Innovation Systems− Swedish Emergency Management Agency − Swedish Defence Materiel Administration
Technical expertsSwedish Defence Research Agency, FOIRoyal Institute of Technology, KTHLuleå University of Technology, LTUSAAB AerotechSAAB Bofors Dynamics ABSwedish Defence Materiel Administration, FMV
User representativesSwedish Rescue Services AgencyRescue Service in LinköpingNational Criminal PoliceArmy Combat School
Technical expertsSwedish Defence Research Agency, FOIRoyal Institute of Technology, KTHLuleå University of Technology, LTUSAAB AerotechSAAB Bofors Dynamics ABSwedish Defence Materiel Administration, FMV
User representativesSwedish Rescue Services AgencyRescue Service in LinköpingNational Criminal PoliceArmy Combat School
Scenarios, user needs and requirementsScenarios, user needs and requirements
ScenariosMilitary personnel, peace-keeping or peace-enforcement
Search through building for sniper
Navigation through mine field
PoliceHostage situation in large building
Under-cover surveillance of suspects entering building (e.g. shopping mall or night club)
Search for fugitives in rural areas
FirefighterFire in multi-story apartment building
Fire in complex building (shopping mall, night club, office buildings)
Military personnel, peace-keeping or peace-enforcement
Search through building for sniper
Navigation through mine field
PoliceHostage situation in large building
Under-cover surveillance of suspects entering building (e.g. shopping mall or night club)
Search for fugitives in rural areas
FirefighterFire in multi-story apartment building
Fire in complex building (shopping mall, night club, office buildings)
User needs and requirementsUser needs and requirements were mainly discussed
from the stand-point of current tactical behaviorLikely that a personnel positioning system enable improved
tactical behavior, which in turn will yield new requirements
Development of improved tactical behavior requires extensive experimentation and training with positioning systems
Tactical behavior different in US and Sweden – does this affect the identified requirements?
User needs and requirements were mainly discussed from the stand-point of current tactical behavior
Likely that a personnel positioning system enable improved tactical behavior, which in turn will yield new requirements
Development of improved tactical behavior requires extensive experimentation and training with positioning systems
Tactical behavior different in US and Sweden – does this affect the identified requirements?
User needs and requirementsSimilar needs and requirements for police, military and
firefightersMore dependant on the scenario environment
Benefits with a personnel positioning system increases as the building size/complexity increases
Easier to obtain situational awareness in smaller buildings
Example - firefightersstated limited need for positioning system in typical apartment fires
focus was on large buildings and unpredicted events where typical tactical behavior insufficient
US events (9/11 and Charleston) shows importance of tracking firefighters under collapsed buildings?
Similar needs and requirements for police, military and firefighters
More dependant on the scenario environment
Benefits with a personnel positioning system increases as the building size/complexity increases
Easier to obtain situational awareness in smaller buildings
Example - firefightersstated limited need for positioning system in typical apartment fires
focus was on large buildings and unpredicted events where typical tactical behavior insufficient
US events (9/11 and Charleston) shows importance of tracking firefighters under collapsed buildings?
Examples of identified user needsEfficient local command and control M, P, F
Rescue of injured personnel M, P, F
Navigation through complex buildings M, P, F
Safe exit (e.g. from collapsing building) F
Friendly-fire / Blue-force-tracking M, (P)
Distance and heading to targets/threats M, P
Health status and automatic alarm functionality M, P, F
Know what rooms have been ”cleared” (searched) M, P, (F)
After-action review (de-briefing) and training analysis M, F, (P)
Safe navigation through e.g. mine fields M
Fugitive movement pattern analysis (positions of dogs) P
Free the radio resource for command and control M, P, F
Efficient local command and control M, P, F
Rescue of injured personnel M, P, F
Navigation through complex buildings M, P, F
Safe exit (e.g. from collapsing building) F
Friendly-fire / Blue-force-tracking M, (P)
Distance and heading to targets/threats M, P
Health status and automatic alarm functionality M, P, F
Know what rooms have been ”cleared” (searched) M, P, (F)
After-action review (de-briefing) and training analysis M, F, (P)
Safe navigation through e.g. mine fields M
Fugitive movement pattern analysis (positions of dogs) P
Free the radio resource for command and control M, P, F
What needs to be estimated?Position (x,y)
Height
Position error (and integrity monitoring)
Heading for weapon and/or body
Distance and direction to targets and threats
Who needs the estimated positions?Local command
Other units in group
What needs to be estimated?Position (x,y)
Height
Position error (and integrity monitoring)
Heading for weapon and/or body
Distance and direction to targets and threats
Who needs the estimated positions?Local command
Other units in group
Examples of user requirementsy
xz
y
xz
Examples of user requirements
Preliminary requirements listAccuracy (x-y): < 1 meter in all environments (what room?)
Accuracy (z): < 2 meter (what floor?)
100 % availability
Accuracy in estimated heading?
Weigth < 1 kg
Battery – minimum 8 hours, several days desired
Robustness more important than stealth
Encrypted data transfer
Combine positioning information with health status
Preliminary requirements listAccuracy (x-y): < 1 meter in all environments (what room?)
Accuracy (z): < 2 meter (what floor?)
100 % availability
Accuracy in estimated heading?
Weigth < 1 kg
Battery – minimum 8 hours, several days desired
Robustness more important than stealth
Encrypted data transfer
Combine positioning information with health status
Examples of user requirements
No dependence of pre-installed infrastructure
Integrated positioning and communication system
Covert positioning system
Modular system
Avoid large antennas, integrate antenna/cables into uniform
No dependence of pre-installed infrastructure
Integrated positioning and communication system
Covert positioning system
Modular system
Avoid large antennas, integrate antenna/cables into uniform
Different users Different users -- different systemsdifferent systems
100 % availability, lower accuracy and robustness demands, integrity monitoring
US$ 100 - 1.000
Demanding applications/consumers Good accuracy during normal conditions, high availability desired but position errors accepted occasionally, integrity monitoring
US$ 10 - 100
Mass market Good accuracy during normal conditions, acceptans for large errors and loss of servicein certain conditions (e.g. indoors, tunnels)
US$ 1 – 10
EnablersEnablers
”Draft” report available in the report data base at www.ee.kth.se
“Positioning of emergency personnel in rescue operations -possibilities and vulnerabilities with existing techniques and identification of needs for future R&D”, Technical report TRITA-EE 2007:037, Royal Institute of Technology, Stockholm, Sweden
Part of the command and control systemPart of the command and control system
The positioning system must includeEstimation of positions, heading, health statusTransfer of information (local command, other units)Presentation of informationDecision support (navigation, safe exit, etc)
The positioning system must includeEstimation of positions, heading, health statusTransfer of information (local command, other units)Presentation of informationDecision support (navigation, safe exit, etc) WPI: Precision Personnel
Locator (PPL) System
DARPANICE
Summary of existing positioning techniquesSummary of existing positioning techniques
GNSSExiting future with GPS, Galileo, GLONASS and Beidou/COMPASS(?), new receiver algorithms with increased sensitivity (assisted-receivers,high-sensitivity receivers), EGNOS, pseudolites
Substantially improved availability expected indoors, poor accuracy still
Insufficient performance indoors due to signal attenuation and multipath propagation, sensitive against interference and jamming
Performance with future combined receivers (GPS+GALILEO => 50 satellites)?
GNSSExiting future with GPS, Galileo, GLONASS and Beidou/COMPASS(?), new receiver algorithms with increased sensitivity (assisted-receivers,high-sensitivity receivers), EGNOS, pseudolites
Substantially improved availability expected indoors, poor accuracy still
Insufficient performance indoors due to signal attenuation and multipath propagation, sensitive against interference and jamming
Performance with future combined receivers (GPS+GALILEO => 50 satellites)?
Summary of existing positioning techniquesSummary of existing positioning techniques
Ranging-based systems utilizing bring-your-own infrastructureE.g. TDOA/TOA systems, vast power advantage compared to GNSS
Mobile ad-hoc networks with node-ranging and distributed positioningFor very harsh environments, mobility and geometry restricts performance
Signals-of-opportunity (SOP)
Expect insufficient indoor performance in large buildings due tomultipath propagation, frequency regulations limits possibilities
Indoor performance of proposed ”Governmental” UWB and likelihood for acceptance from FCC? What performance can be achieved with radio-based systems (”pseudolites”) at lower frequencies (200-500 MHz) with limited bandwidths (100 MHz)? What can SOP give us?
Ranging-based systems utilizing bring-your-own infrastructureE.g. TDOA/TOA systems, vast power advantage compared to GNSS
Mobile ad-hoc networks with node-ranging and distributed positioningFor very harsh environments, mobility and geometry restricts performance
Signals-of-opportunity (SOP)
Expect insufficient indoor performance in large buildings due tomultipath propagation, frequency regulations limits possibilities
Indoor performance of proposed ”Governmental” UWB and likelihood for acceptance from FCC? What performance can be achieved with radio-based systems (”pseudolites”) at lower frequencies (200-500 MHz) with limited bandwidths (100 MHz)? What can SOP give us?
Summary of existing positioning techniquesSummary of existing positioning techniques
Inertial navigation sensors and systemsRobust positioning
Development of MEMS-sensors allows for very small, light-weight, low-powered, and inexpensive(?) sensors - suitable for first responders
Error increases with time, heavily dependant on how object moves
What performance, and robustness against movement patterns, can be achieved with foot-mounted sensors?
Inertial navigation sensors and systemsRobust positioning
Development of MEMS-sensors allows for very small, light-weight, low-powered, and inexpensive(?) sensors - suitable for first responders
Error increases with time, heavily dependant on how object moves
What performance, and robustness against movement patterns, can be achieved with foot-mounted sensors?
GNSS
DR
AHRSFilter
Pedometer
IMURight foot
IMULeft foot
BAROMETER
Height-Filter
GNSS/DRFilter
Atm press
Vertical acc.
GNSS height Map
Position
Position error
HeightHeight error
Heading/Attitude
GNSS Position
Compass misalignment
Map height
3 acc
3 magn
3 gyro
Heading/Attitude error
IMU
Sensor fusion is neededSensor fusion is neededExample: decentralized sensor fusionExample: decentralized sensor fusion
Measurement set-upThree wideband receivers (8.5 MHz) placed outside 1st floor concrete/stone – 2nd floor wood – metal roofTransmitter inside building (178, 306 and 1125 MHz)Time synchronization error up to 20 ns20 ms data collection
Measurement set-upThree wideband receivers (8.5 MHz) placed outside 1st floor concrete/stone – 2nd floor wood – metal roofTransmitter inside building (178, 306 and 1125 MHz)Time synchronization error up to 20 ns20 ms data collection
Initial resultsPosition estimates obtained with Ptx < 0.1 mWLow frequencies yields lower variance and biasLarge bias for some measurements
Error sources: time synchronization, multipath, interference(?)
TDOA – direct wave not necessarily the first correlation peakAbout 10 % erroneuous peaks was chosen
Continued workTOA-algorithms for multipath-resistant range estimationIncreased bandwidths – up to 100 MHzSoftware-defined radio approach for combined radio-based positioning, GPS and communications
GNU-radio software with ESRP-hardware?
Initial resultsPosition estimates obtained with Ptx < 0.1 mWLow frequencies yields lower variance and biasLarge bias for some measurements
Error sources: time synchronization, multipath, interference(?)
TDOA – direct wave not necessarily the first correlation peakAbout 10 % erroneuous peaks was chosen
Continued workTOA-algorithms for multipath-resistant range estimationIncreased bandwidths – up to 100 MHzSoftware-defined radio approach for combined radio-based positioning, GPS and communications