Honeywell GLANSER Emergency Responder Locator System. WPI Workshop August 1, 2011

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Belinda Barker
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1 Honeywell GLANSER Emergency Responder Locator System WPI Workshop August 1, 2011

2 Acknowledgments The GLANSER program is being supported by funding from the Department of Homeland Security; Science and Technology Directorate under contract #N10PC20002 Jalal Mapar, GLANSER Program Manager, DHS S&T ( 2

3 Topics Honeywell GLANSER base program system description Results from the National Institute of Standards and Technology (NIST) campus testing scenarios Conclusions 3

4 Honeywell GLANSER Team Members Honeywell Team leader Navigator, integration, packaging Time Domain Ultra-Wide band ranging radio (P220) Harris Communications (data) 4

5 Honeywell s GLANSER System Elements Geospatial Locator Unit (GLU) o Relative navigator based on an IMU, Doppler velocimeter, barometer, motion model o Geo-referenced framework from GPS, UWB ranging to known locations Anchor Node Unit (ANU) o UWB ranging from known, fixed position o Provides barometric corrections o Self survey via GPS Command Display Unit (CDU) o 2D/3D display of location and status information Communications o Base program data communications via COTS 900 MHz radio o Implementation of mesh data communications planned for later phases Components were largely off-the-shelf SWaP concerns were secondary 5

6 Battery Geospatial Locator Unit (GLU) Antenna stalk cabling passage Ethernet switch Microhard 900 MHz data radio Honeywell HG1930 IMU Processor Fan Doppler velocimeter antennas 6

7 GLU Backpack 7

8 Anchor Node Unit (ANU) Battery Processor GPS 900 MHz data radio Ethernet Switch UWB ranging radio UWB Antenna Deployed ANU on tripod 8

easy to understand representations Support for

9 Honeywell.com Commander Display Unit (CDU) CDU provides 2D/3D building visualization Visualization of key building data through standard icons and easy to understand representations Support for multiple fire fighters and man-down alarms Map building tools to rapidly create floor plans 9

10 Performance testing Testing performed at the NIST campus at Gaithersburg, Maryland December 15, 2010 (temperature was ~33º F) 3 Different buildings Buildings #238, #222, #301 Various motion types Walking Forward, backward, sideways, up/down stairs Crawling 1 or 2 systems (GLU s) tested, separately and/or simultaneously Pre-surveyed truth points, spaced 3-4m apart Survey provided by DHS/NIST/CERDEC personnel Navigation data was recorded and provided to DHS for evaluation against truth points 10

11 Building story wooden structure with vinyl siding Dimensions: 40 x x 25 copper clad Faraday cage inside extending 2½ floors 5 x10 screen room on second floor 4 ANU s deployed Faraday Cage 11

12 Building 238 Results System worked as designed Ranging radio provided reliable and accurate position reference Dominated position performance Data communications worked well Offset between survey and GPS determined position resulted in bias Removing bias resulted in very good performance R95 performance < 1m 12

Building 222 3 floors, cinderblock construction Dimensions: 135 x 358 Floors: 6 poured concrete Interior walls are mostly wallboard, some

13 Building floors, cinderblock construction Dimensions: 135 x 358 Floors: 6 poured concrete Interior walls are mostly wallboard, some cinderblock for major walls Track is primarily along hallways that are 1 office away from edge of building Heavy metal doors 4 ANU s deployed Entrance 13

14 Building 301 Large single floor office/warehouse building Dimensions: 456 x 491 Office areas vary from sheetrock to open areas to small offices with metal walls. Many test points in a warehouse section (supply room with metal shelves) Roof is sheet metal, a number of interior cinderblock walls Supply room area with metal shelves 4 ANU s deployed Entrance 14

Building 222, 301 Results Building material prevented reliable radio transmission Data communications was sporadic RF ranging was only present during exterior segments Navigation was primarily based

15 Building 222, 301 Results Building material prevented reliable radio transmission Data communications was sporadic RF ranging was only present during exterior segments Navigation was primarily based on IMU/Doppler sensors Performance was sensitive to initialization errors Heading initialization caused tilt in position trace Position initialization difference caused offset Overall, relative navigation performed well 15

16 Conclusions RF communications and ranging performance is highly dependent on building type and configuration Difficult to assess RF characteristics from exterior observations Metalized window film Interior metal doors Reliance on relative navigator (non-rf) for extended ranging outages is crucial Data communications integrity is difficult and crucial 16

D Locator Indoor Positioning for Firefighters and Other First Responders. WPI Technology Workshop 5 August 2008

Advanced 3-D 3 D Locator Indoor Positioning for Firefighters and Other First Responders WPI Technology Workshop 5 August 2008 Steve Rounds L-3 3 Communications Interstate Electronics Corp Anaheim, CA 1