Cooperative positioning for emergency responders using self IMU and peer-to-peer radios measurements
Positioning between multiple users without any given infrastructure is essential for many applications, such as emergency response in disaster areas. Traditional approaches based on inertial-measurement units (IMU) are able to measure position changes without any reference, but the accuracy deterior...
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2021
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/151567 |
| _version_ | 1811693398726279168 |
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| author | Liu, Ran Yuen, Chau Do, Tri-Nhut Zhang, Meng. Guan, Yong Liang Tan, U-Xuan |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Liu, Ran Yuen, Chau Do, Tri-Nhut Zhang, Meng. Guan, Yong Liang Tan, U-Xuan |
| author_sort | Liu, Ran |
| collection | NTU |
| description | Positioning between multiple users without any given infrastructure is essential for many applications, such as emergency response in disaster areas. Traditional approaches based on inertial-measurement units (IMU) are able to measure position changes without any reference, but the accuracy deteriorates due to error accumulation for long terms. Particularly, it is challenging to deal with irregular walking patterns of users. This paper proposes to combine IMU and radio measurements (i.e., peer-to-peer Wifi received signal strength and peer-to-peer UWB ranging) for the positioning of a group of mobile users in emergency response, where no fixed anchors and no infrastructure are available. We incorporate the IMU and radio measurements into the particle filtering, which has the capability to cooperatively position a group of mobile users and recover from any potential tracking failures. By fusing the long-range Wifi RSS and short-range UWB ranging measurements, we can take the advantages of both sensors and achieve an accurate and robust positioning system. We have conducted experiments to validate the proposed approach both in a simulation and a real world experiment. Our experimental results show that the combination of Wifi and UWB measurements provides a positioning accuracy of 2.6 m, which is an improvement of 26% and 10% as compared with Wifi (3.5 m) and UWB (2.9 m) alone. |
| first_indexed | 2024-10-01T06:51:03Z |
| format | Journal Article |
| id | ntu-10356/151567 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:51:03Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1515672021-06-21T07:57:51Z Cooperative positioning for emergency responders using self IMU and peer-to-peer radios measurements Liu, Ran Yuen, Chau Do, Tri-Nhut Zhang, Meng. Guan, Yong Liang Tan, U-Xuan School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Cooperative Positioning Ultra-wideband Ranging Positioning between multiple users without any given infrastructure is essential for many applications, such as emergency response in disaster areas. Traditional approaches based on inertial-measurement units (IMU) are able to measure position changes without any reference, but the accuracy deteriorates due to error accumulation for long terms. Particularly, it is challenging to deal with irregular walking patterns of users. This paper proposes to combine IMU and radio measurements (i.e., peer-to-peer Wifi received signal strength and peer-to-peer UWB ranging) for the positioning of a group of mobile users in emergency response, where no fixed anchors and no infrastructure are available. We incorporate the IMU and radio measurements into the particle filtering, which has the capability to cooperatively position a group of mobile users and recover from any potential tracking failures. By fusing the long-range Wifi RSS and short-range UWB ranging measurements, we can take the advantages of both sensors and achieve an accurate and robust positioning system. We have conducted experiments to validate the proposed approach both in a simulation and a real world experiment. Our experimental results show that the combination of Wifi and UWB measurements provides a positioning accuracy of 2.6 m, which is an improvement of 26% and 10% as compared with Wifi (3.5 m) and UWB (2.9 m) alone. This work is funded by the National Natural Science Foundation of China (No. 61601381 and 61750110529) and the Sichuan Science and Technology Program (No. 2019YFH0161 and 2019JDTD0019). 2021-06-21T07:57:50Z 2021-06-21T07:57:50Z 2019 Journal Article Liu, R., Yuen, C., Do, T., Zhang, M., Guan, Y. L. & Tan, U. (2019). Cooperative positioning for emergency responders using self IMU and peer-to-peer radios measurements. Information Fusion, 56, 93-102. https://dx.doi.org/10.1016/j.inffus.2019.10.009 1566-2535 0000-0002-6343-4645 0000-0002-9307-2120 0000-0003-2188-8195 https://hdl.handle.net/10356/151567 10.1016/j.inffus.2019.10.009 2-s2.0-85073607468 56 93 102 en Information Fusion © 2019 Elsevier B.V. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Cooperative Positioning Ultra-wideband Ranging Liu, Ran Yuen, Chau Do, Tri-Nhut Zhang, Meng. Guan, Yong Liang Tan, U-Xuan Cooperative positioning for emergency responders using self IMU and peer-to-peer radios measurements |
| title | Cooperative positioning for emergency responders using self IMU and peer-to-peer radios measurements |
| title_full | Cooperative positioning for emergency responders using self IMU and peer-to-peer radios measurements |
| title_fullStr | Cooperative positioning for emergency responders using self IMU and peer-to-peer radios measurements |
| title_full_unstemmed | Cooperative positioning for emergency responders using self IMU and peer-to-peer radios measurements |
| title_short | Cooperative positioning for emergency responders using self IMU and peer-to-peer radios measurements |
| title_sort | cooperative positioning for emergency responders using self imu and peer to peer radios measurements |
| topic | Engineering::Electrical and electronic engineering Cooperative Positioning Ultra-wideband Ranging |
| url | https://hdl.handle.net/10356/151567 |
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