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

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1 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

2 Advanced 3-D Locator Program In recognition of the requirement for continuous location of firefighters inside buildings, DHS Science and Technology awarded L-3 the A3DL contract Locate indoors to an accuracy of 6m (3m goal) 2-hour battery life (4-hour goal) Autonomous/non-interference operation No infrastructure Contract deliverables 25 locators 2 base stations Demonstrations at FDNY and other locations 2

3 Traditional Approaches to Indoor Navigation Multisensor Navigation Utilize as many sensors as possible IMU GPS Magnetometer Advantages Allows absolute navigation when GPS is available No infrastructure required Disadvantages Requires > 4 satellites Accuracy degrades with time when no GPS Tri-lateration Perform ranging to sources (e.g. RF) at known locations Advantages Maintains absolute navigation accuracy Disadvantages Requires substantial infrastucture Requires > 3 sources 3

4 Decentralized Cooperative Navigation (DCN) A3DL utilizes IEC s DCN navigation technology Combines best of Multisensor Navigation and Tri-Lateration Includes multisensor navigation sensor suite GPS IMU/magnetometer Includes RF ranging among multiple nodes of network Forms ad hoc tri-lateration network Nodes communicate via 900 MHz ad hoc mesh radio DCN algorithms integrate all data across the entire network in optimal filter Removes disadvantages of each other method No infrastructure required Can integrate partial solutions of multisensor and tri-lateration techniques Does not require 4 satellites or 3 RF ranging sources 4

5 Navigation Processing IEC has investigated various alternatives for navigation processing Fully Decentralized vs. Centralized vs. Partially Decentralized Tradeoff issues Network bandwidth Single point failure modes Processor throughput Optimal vs. Suboptimal Design Tradeoff issues Accuracy Network bandwidth Processor throughput Interaction with Centralized vs. Decentralized implementation IEC has performed extensive analyses to optimize A3DL design 5

6 A3DL Subsystems Rover Units Backpack Collects sensor data GPS RF Ranging Performs local navigation processing Communicates with leg unit (Bluetooth) Communicates with base station (900 MHz) Leg Unit IMU Magnetometer Communicates with backpack unit (Bluetooth) Base Station Local Processing Collects sensor data GPS RF Ranging Performs local navigation processing Global Processing Communicates with rovers (900 MHz) Integrates navigation data from all nodes (including self) Provides positions to display unit Display Station Visualization software 6

7 A3DL Hardware Components Honeywell Microstrain IMU Low cost 9-axis IMU/Magnetometer ICI ad hoc Mesh Network Mobiquiti 900 MHz radio Also provides local processor SiRF GPS Receiver Falcom JP14-R Display Visualization SW Cal Poly Pomona BalFour Google Maps MSSI RF Ranging Receiver 6GHz UWB ranging receiver 7

8 A3DL Architecture Rover Unit Battery Ad hoc mesh network Rover Unit Rover Navigation Algorithms Bluetooth GPS RF Ranging IMU Magnetometer Bluetooth Base Station Battery Power Supply Ad hoc mesh network Base Station Algorithms Laptop with Display SW GPS Ethernet RF Ranging Rover Unit Bluetooth IMU Magnetometer Battery Battery Rover Navigation Algorithms GPS Bluetooth Rover Unit Ad hoc mesh network RF Ranging Ethernet Switch Data Recorder 8

9 A3DL Testing Subsystem tests Inside/outside up/down multistory air-conditioned buildings Inside burn buildings IMU Male/female Running/walking/crawling RF ranging Concrete/wood/steel buildings Range Comm radio Concrete/wood/steel buildings Range System tests 2-10 nodes Multiple Locations IEC Campus Muscatatuck Urban Training Center (MUTC) Navigation Performance Single story building Multiple story buildings Rescue missions Single node simulates downed firefighter Team of nodes is directed to rescue victim More demonstrations planned New York FD Chicago FD Seattle FD Cincinnati FD 9

10 MUTC Testing Muscatatuck Urban Training Center Secluded, self-contained community Turned over to Indiana National Guard in 2005 Includes acres with 70 buildings available for testing Hosted by Joint Forces Command (JFCOM) on April Five soldiers outfitted with A3DL Performed search and clear and rescue missions 3-story and 5-story buildings Demonstrations witnessed by multiple DoD, DHS and civilian personnel 10

11 Emergency Responder Tracking Visualization Auto-Jump to alarm location Inject 3D floor plans into building model Track emergency responder locations outside and inside building Expand building model to view responder locations on each individual floor Search & Rescue situation awareness Developed separately from A3DL program BALFOUR Technologies LLC 11

12 Rescue Mission Test 12

13 Future Plans Continue to develop A3DL for first responder applications Reduce size, weight, power, cost Fine tune performance Develop high volume product Develop Militarized 3-D Locator (M3DL) Use military radio (e.g. Microlight EPLRS radio) Use military SAASM receiver Replace leg unit with Doppler velocimeter Integrate additional sensor technologies Visual scene-to-scene tracking system VOIP Biometrics 13

14 Acknowledgements Innovative Concepts, Inc supplier of ad hoc mesh network MultiSpectral Solutions, Inc supplier of RF ranging radio Balfour Technologies USJFCOM supplier of visualization software sponsors of MUTC testing 14