Cooperative Localization of Firefighters Based on Relative Ranging Constraints of UWB and Autonomous Navigation
There are many demands for the cooperative localization (CL) of multiple people, such as firefighter rescue. The classical foot-mounted inertial navigation based on zero velocity update (ZUPT) suffers from accumulating error due to the low-cost inertial sensor, and the pre-placed anchors in the ultr...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/12/5/1181 |
| _version_ | 1797615530074439680 |
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| author | Yang Chong Xiangbo Xu Ningyan Guo Longkai Shu Qingyuan Zhang Zhibin Yu Tao Wen |
| author_facet | Yang Chong Xiangbo Xu Ningyan Guo Longkai Shu Qingyuan Zhang Zhibin Yu Tao Wen |
| author_sort | Yang Chong |
| collection | DOAJ |
| description | There are many demands for the cooperative localization (CL) of multiple people, such as firefighter rescue. The classical foot-mounted inertial navigation based on zero velocity update (ZUPT) suffers from accumulating error due to the low-cost inertial sensor, and the pre-placed anchors in the ultra-wideband (UWB) system limit the application in an unknown environment. In this study, a group of sensors including the inertial measurement unit (IMU), magnetometer, barometer, and UWB sensor is used. Through the different characteristics of sensors and the position relationship between people, a cooperative localization system using an extended Kalman filter for three-dimensional firefighter tracking is proposed. Ranging information between firefighters from UWB is utilized, and couplings introduced by relative measurement are estimated. Two experiments are designed to verify the proposed algorithm in building and forest environments. Compared with the results of single-person inertial navigation, the average positioning precision of the algorithm in the building and forest is, respectively, improved by 38.93% and 79.01%. This approach successfully suppresses the divergence of positioning errors, and fixed UWB anchors are not needed. |
| first_indexed | 2024-03-11T07:26:42Z |
| format | Article |
| id | doaj.art-a3ca31fb58fc48489d66ae15cde25cc6 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-11T07:26:42Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-a3ca31fb58fc48489d66ae15cde25cc62023-11-17T07:32:48ZengMDPI AGElectronics2079-92922023-02-01125118110.3390/electronics12051181Cooperative Localization of Firefighters Based on Relative Ranging Constraints of UWB and Autonomous NavigationYang Chong0Xiangbo Xu1Ningyan Guo2Longkai Shu3Qingyuan Zhang4Zhibin Yu5Tao Wen6School of Technology, Beijing Forestry University, Beijing 100083, ChinaSchool of Technology, Beijing Forestry University, Beijing 100083, ChinaSchool of Information and Communication Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Technology, Beijing Forestry University, Beijing 100083, ChinaSchool of Technology, Beijing Forestry University, Beijing 100083, ChinaInstitute of Space Science and Applied Technology, Harbin Institute of Technology, Shenzhen 518055, ChinaSchool of Mechano-Electronic Engineering, Xidian University, Xi’an 710071, ChinaThere are many demands for the cooperative localization (CL) of multiple people, such as firefighter rescue. The classical foot-mounted inertial navigation based on zero velocity update (ZUPT) suffers from accumulating error due to the low-cost inertial sensor, and the pre-placed anchors in the ultra-wideband (UWB) system limit the application in an unknown environment. In this study, a group of sensors including the inertial measurement unit (IMU), magnetometer, barometer, and UWB sensor is used. Through the different characteristics of sensors and the position relationship between people, a cooperative localization system using an extended Kalman filter for three-dimensional firefighter tracking is proposed. Ranging information between firefighters from UWB is utilized, and couplings introduced by relative measurement are estimated. Two experiments are designed to verify the proposed algorithm in building and forest environments. Compared with the results of single-person inertial navigation, the average positioning precision of the algorithm in the building and forest is, respectively, improved by 38.93% and 79.01%. This approach successfully suppresses the divergence of positioning errors, and fixed UWB anchors are not needed.https://www.mdpi.com/2079-9292/12/5/1181multi-sensor information fusioncooperative localizationinertial navigationUWB rangingKalman filter |
| spellingShingle | Yang Chong Xiangbo Xu Ningyan Guo Longkai Shu Qingyuan Zhang Zhibin Yu Tao Wen Cooperative Localization of Firefighters Based on Relative Ranging Constraints of UWB and Autonomous Navigation Electronics multi-sensor information fusion cooperative localization inertial navigation UWB ranging Kalman filter |
| title | Cooperative Localization of Firefighters Based on Relative Ranging Constraints of UWB and Autonomous Navigation |
| title_full | Cooperative Localization of Firefighters Based on Relative Ranging Constraints of UWB and Autonomous Navigation |
| title_fullStr | Cooperative Localization of Firefighters Based on Relative Ranging Constraints of UWB and Autonomous Navigation |
| title_full_unstemmed | Cooperative Localization of Firefighters Based on Relative Ranging Constraints of UWB and Autonomous Navigation |
| title_short | Cooperative Localization of Firefighters Based on Relative Ranging Constraints of UWB and Autonomous Navigation |
| title_sort | cooperative localization of firefighters based on relative ranging constraints of uwb and autonomous navigation |
| topic | multi-sensor information fusion cooperative localization inertial navigation UWB ranging Kalman filter |
| url | https://www.mdpi.com/2079-9292/12/5/1181 |
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