The RFID-Assisted Localization and Communication for First Responders project will determine the feasibility of using RFID-assisted localization in combination with an ad-hoc wireless communication network to provide reliable tracking of first responders in stressed indoor RF environments, where GPS-based localization and links to external communication systems are known to be unreliable. The research will also consider the means and potential for embedding critical building/occupant information in specific on-site RFID tags to enhance the safety and efficiency of the first responders' mission as well as to minimize dependence upon communication with external building databases.

FY 2005 Interim Project Report (2.4 MB)
Report: Indoor Navigation for First Responders: A Feasibility Study (5.7 MB) (Corrected 2/14/06)

NEW!  ISART 2006 paper (PDF, 480KB) and presentation (PDF, 1.2 MB)

Related Links
Project Staff
Project Resources--Links
Project Resources--Bibliography
Photo Gallery

Related Links:
Public Safety Wireless Technology Links
NIST Communications and Networking for Public Safety project page
 

PROJECT RESOURCES--Links

• Building info, location coordinate systems, etc.
• Communication systems for ad hoc indoor scenarios
• Localization techniques, systems for potential indoor use
• Navigation Technology for possible indoor use
• RFID technology links that might be useful

Building info, location coordinate systems, etc.
Stairway identification (Arlington, VA building code)

Communication systems for ad hoc indoor scenarios
Ascentry 802.11b mesh network "breadcrumbs"
Cirronet Zigbee modules and terminals
Crossbow wireless sensor networks
Dust Networks mesh networks for sensors
Ember Zigbee solutions
EmStar software for wireless sensor networks
Helicomm Zigbee development tools
ITT Spearnet ad hoc 2.4 GHz military radio
Kiyon wireless networking of RFID readers
Lantronix wireless M2M products
MANTIS project at U. Colorado
MaxStream Zigbee development kits
Moteiv wireless sensor networks
Newtrax Technologies wireless mesh/FHSS networking
Omnispread Communications DS spread spectrum modems
Sensoria mesh networks
WiBox RS232 via 802.11b devices
Wisenet project at Bradley U.
ZMD WPAN/Zigbee products

Localization techniques, systems for possible indoor use
Cricket Indoor Location System
Elpas local positioning systems
Exit Technologies firefighter rescue, exit system (427 kHz)
Eyeglass local positioning system
Grace Industries firefighter evacuation, exit system (900 MHz)
John Heidemann papers on localization and sensor networks
Information Systems Laboratory wireless firefighter lifeline
Place Lab location using Wi-Fi
Third Watch accountability system
RFID Radar concept from Trolley Scan Ltd
TrakPoint military/first-responder personnel tracking system
Worcester Tech firefighter location project

Navigation technology for possible indoor use
Atair Aerospace inertial navigation unit
Auburn MEMS Inertial Sensor Laboratory
Berkeley Inertial Navigation and GPS home page
U. Calgary Positioning, Location, and Navigation Research Group
Carnegie Mellon human odometer project
Compass basics
Drexel student's tutorial on serial communication with a GPS device
Dynastream Speedmax inertial sensor technology
Findability links
Fugawi navigation software
Global Locate indoor GPS solutions
Honeywell magnetic sensor products
Honeywell MEMS IMU products
Indoor and pedestrian navigation presentation
Indoor and pedestrian navigation working group of IAG
Indoor GPS products
Inertial Solutions sensors, IMUs
InterSense inertial sensors for 3D simulation
Intelligent Automation firefighter location project (UWB into building)
JAZZ wayfinding and auto-routing
Low cost INS Swiss student project here also
MEMSense gyros and IMUs
MicroStrain orientation sensor
Mimosa Project --European project to "make ambient intelligence a reality by developing a mobile-phone centric open technology platform"
NAVIO indoor/outdoor personal navigation research project
NovAtel GPS-inertial navigation solutions
O-Navi inertial sensors
On Target Software Solutions inertial measurement systems
Point Research dead-reckoning sensors for personal and vehicle navigation
Rotomotion inertial navigation modules
Science Oxygen page on Kalman filtering in navigation
Stack A modular platform for high density wireless sensing
U. Sydney inertial navigation research
Systron Donner MotionPak inertial sensing system
Vectronix miniature digital magnetic compass
Vectronix personal navigation module
Xsens miniature inertial motion sensors

RFID technology links that may be useful
ACG Compact Flash RFID reader
ActiveWave RFID readers
AIM Global
AirGATE RFID based surface-acoustic-wave devices
Ambient Intelligence research at MIT
Applied Wireless RFID tags and readers (including PCMCIA card readers)
Blackbay handheld RFID readers with Bluetooth
Detex proximity-based guard tour verification
Dynasys RFID superstore
Ember Corporation -- embedded wireless networking devices
Emergent Technology vehicle tracking
EPCglobal
Escort high temperature UHF tags
G2 Microsystems Wi-Fi compatible RFID tags
Hermos PCMCIA card RFID reader
HID cards and readers
High Tech AID resources about RFID
Identec PC card 900 MHz RFID readers
Intermec portable RFID reader/writers
LXE handheld computers and RFID readers
One Source PDA RFID Reader/Writers
Precision Dynamics RFID wristband systems
Randall's RFID Page
RFIDa news, information
RF-ID.com Compact Flash RFID reader
RFID Inc. RFID hardware
RFID Journal
RFID News and Solutions
The RFID Reader
RFID Times blog
rfidXchange
Savi RFID networking solutions
Security of RFID test case
Sirit RFID reader technology
SkyeTek miniature RFID reader
Symbol Technologies RFID products
Tagsys RFID systems and tags
Tectus RFID components
Tek RFID adapter for PDA
ThingMagic agile RFID readers
TI-RFID
Article on low-cost readers from Toppan
Transponder News
Trolley Scan "RFID Radar"
Using RFID news
Villanova RFID lab
Wavetrend RFID systems
WJ Communications RFID reader PCMCIA cards

PROJECT RESOURCES--Bibliography

Background, general approach to problem

• --, "Wireless Mine-Rescue System Tested in US," news item at PhysOrg.Com
• D. A. Ross, "Cyber Crumbs for Successful Aging with Vision Loss," Pervasive Computing, April-June 2004, pp. 30-35. online
• D. Sarkar, "DHS Seeks Location-Tracking Technology," FCW, 26 January 2006. online

Building info, location coordinates, etc.

• K. S. Chong, "Mobile Robot Map Building from an Advanced Sonar Array and Accurate Odometry," Proc. IJRR 1999. online

Communication systems relevant to this project

• J. Barton, et al., "Miniaturised Modular Wireless Sensor Networks," Proc. UBICOMP 2002. online
• C. Mallett, et al., "Mine Communication and Information for Realtime Risk Analysis," Australian research report. online
• H. G. Nguyen, et al., "Autonomous Communication Relays for Tactical Robots," Proc. ICAR 2003. online
• H. G. Nguyen, et al., "Maintaining Communication Link for Tactical Ground Robots," Proc. AUVSI 2004. online

Localization, navigation technology for potential indoor use

• D. F. Bizup and D. E. Brown, "The Overextended Kalman Filter--Don't Use It!" Univ. Virginia Dept. Systems Engineering technical report SIE-03001. online
• F. Brannstrom, "Positioning Techniques Alternative to GPS," Master's Thesis, Univ. Lund, 2002. online
• A. K. Brown and Y. Lu, "Performance Test Results of an Integrated GPS/MEMS Inertial Navigation Package," Proc. ION GNSS 2004. online
• A. K. Brown, et al., "Design and Test Results of a Software Defined Radio for Indoor Navigation," Proc. 2005 Software Defined Radio Technical Conf., Orange County, CA, Nov. 2005. PDF file
• M. H. Bruch, et al., "Accurate Waypoint Navigation Using Non-differential GPS," Proc. AUVSI Unmanned Systems 2002. online
• S. B. H. Bruder and K. Wedeward, "Terrain Aided INS Robot Navigation: A Deferred Decision Making Approach," 42nd Midwest Symp. Circuits and Syst., Las Cruces, NM , August 1999. online
• P. Cross, et al., "Intelligent Navigation, Inertial Integration: Double Assistance for GPS," GPS World, 1 May 2002. online
• R. Dorobantu and B. Zebhauser, "Field Evaluation of a Low-Cost Strapdown IMU by means GPS," Ortung und Navigation, vol. 1, pp. 51-65, DGON. online
• L. Fang, et al., "Design of a Wireless Assisted Pedestrian Dead Reckoning System - The NavMote Experience," IEEE Trans. Instrumentation and Measurement, Vol. 54, pp. 2342-2358 (December 2005). PDF mss
• V. Gabaglio, et al., "Kalman filter approach for augmented GPS pedestrian navigation," Proc. GNSS 2001. online
• C. Gartner, et al., "Location Technologies for Pedestrian Navigation," GIS Development, April 2005. online
• P.-Y. Gillieron, et al., "Indoor Navigation Performance Analysis," Proc. GNSS 2004. online
• P.-Y. Gillieron and B. Merminod, "Personal Navigation System for Indoor Applications," Proc. 2003 IAIN World Congress. online
• P. Goel and G. S. Sukhatme, "Localizing a Wireless Node in a Multi-Agent System Using Kalman Filtering," Proc. DARS 2000. online
• M. S. Grewal, L. R. Weill, and A. P. Andrews, Global Positioning Systems, Inertial Navigation, and Integration, Wiley, 2000.
• G. Einicke, "Proximity Identification and Tracking for Mining Automation," Proc. 2003 IEEE Conf. Decision and Control. online
• T. Ford, et al., "MEMS Inertial on an RTK GPS Receiver: Integration Options and Test Results," Proc. ION 2003 NTM. online
• C. Hide and T. Moore, "Low Cost Sensors, High Quality Integration," Univ. Nottingham tech. report, 2004. online
• J. Hightower and G. Borriello, "Location Systems for Ubiquitous Computing," IEEE Computer, August 2001, pp. 57-66. online
• R. Jirawimut, et al., "A Method for Dead Reckoning Parameter Correction in Pedestrian Navigation System," IEEE Trans. on Instrumentation and Meas., vol. 52, pp. 209-215 (February 2003).
• C. T. Judd, "A Personal Dead Reckoning Module," Proc. ION GPS '97. online
• C. Kee, et al., "Indoor Navigation Using Pseudolites," GPS World, 1 November 2001. online
• A. Kelly, "A 3D Space Formulation of a Navigation Kalman Filter for Autonomous Vehicles," Carnegie-Mellon Univ. technical report CMU-RI-TR-94-19. online
• A. Kim, "Development of Sensor Fusion Algorithms for MEMS-based Strapdown Inertial Navigation Systems,"
U. Waterloo masters thesis, 2004. PDF file
• N. V. Kumar, "Integration of Inertial Navigation System and GPS Using Kalman Filtering," M. Tech dissertation, Indian Inst. of Technology, 2004. online
• D. Kurth, "Range-Only Robot Localization and SLAM with Radio," Carnegie-Mellon Univ. Master's thesis, May 2004. online
• Q. Ladetto, et al., "Combining gyroscopes, magnetic compass and GPS for pedestrian navigation," Proc. KIS'01. online
• Q. Ladetto and B. Merminod, "Digital magnetic compass and gyroscope integration for pedestrian navigation," Proc. 2002 international conference on integrated navigation systems. online
• Q. Ladetto, "In Step with INS: Navigation for the Blind, Tracking Emergency Crews," GPSWorld, October 2002, pp. 30-38. online
• Q. Ladetto, "On foot navigation: continuous step calibration using both complementary recursive prediction and adaptative Kalman filtering," Proc. ION GPS 2000. online
• Q. Ladetto, et al., "On foot navigation: when GPS alone is not enough," Proc. GNSS '99, pp. 443-449. online
• Q. Ladetto, et al., "Two Different Approaches for Augmented GPS Pedestrian Navigation," Proc. Locellus 2001. online [using minature IMU]
• J. Latvala, "Patient Tracking in a Hospital Environment Using Extended Kalman-filtering," Proc. ___ 1999. online
• Y. C. Lee and D. G. O'Laughlin, "A Performance Analysis of a Tightly Coupled GPS/Inertial System for Two Integrity Monitoring Methods," MITRE technical paper, 2000. online
• J. Lobo, et al., "Inertial Navigation System for Mobile Land Vehicles," Proc. ISIE95, pp. 843-848. link
• K. Macheiner, "Performance Analysis of a Commercial Multi-Sensor Pedestrian Navigation System," Master's thesis, Graz University of Technology, September 2004. PDF file
• O. Mezentsev, et al., "Pedestrian Dead Reckoning – A Solution to Navigation in GPS Signal Degraded Areas?" Geomatica, vol. 59, 175-182 (2005). PDF file
• A. Miu, "Design and Implementation of an Indoor Mobile Navigation System," MIT EECS Master's Thesis, February 2003 [Cricket location system]. online
• R. Negenborn, "Robot Localization and Kalman Filters: On Finding Your Position in a Noisy World," Utrecht Univ. master's thesis, 2003. online
• K. Pahlavan, et al., "Indoor Geolocation Science and Technology," IEEE Communications Magazine, February 2002, pp. 112-118.
• S. Park and C.-W. Tan, "GPS-Aided Gyroscope-Free Inertial Navigation Systems," U. California Berkeley Inst. of Transportation Studies report, 2002. online
• M. R. Puccio, "Electronic Gimbaling," Sensors, September 2005. online
• C. Randell, et al., "Personal Position Measurement Using Dead Reckoning," Proc. 2003 ISWC. online
• D. A. Ross and B. B. Blash, "Development of a Wearable Computer Orientation System," presentation
• S. I. Roumeliotis, et al., "Circumventing Dynamic Modeling: Evaluation the Error-State Kalman Filter Applied to Mobile Robot Localization," Proc. ICRA 1999. online
• K. Sawada, et al., "A Wearable Attitude-Measurement System Using a Fiberoptic Gyroscope," Presence, vol. 11 no. 2, April 2002, pp. 109-118. online
• Y.-C. Suh, et al., "Assessing the Improvement of Positioning Accuracy Using a GPS and Pseudolites Signal in Urban Area," online
• F. van Diggelen and C. Abraham, "Indoor GPS Technology," presentation at CTIA-Wireless, 2001. online
• K. J. Walchko, "Low Cost Inertial Navigation: Learning to Integrate Noise and Find Your Way," Univ. Florida master's thesis, 2002. online
• K. J. Walchko and P. A. C. Mason, "Inertial Navigation," 2002 Florida Conf. Recent Adv. in Robotics. online
• K. J. Walchko, et al., "Embedded Low Cost Inertial Navigation System," Florida Conf. Recent Adv. in Robotics, May 2003. online
• G. Welch and E. Foxlin, "Motion Tracking: No Silver Bullet, But a Respectable Arsenal," IEEE Computer Graphics and Applications, Nov. 2002, pp. 24-38. online
• R. Wolf, et al., "A Kalman Filter for the Integration of a Low Cost INS and an Attitude GPS," Proc. KIS 1997. online
• U. Wong, et al., "An Analysis of the Human Odometer," Carnegie Mellon Robotics Institute report CM-RI-TR-05-47, September 2005. link

RFID technology, applications that may be useful

• --, "RFID Tracking Shopping Cart," 25 January 2006. News item
• --, Synopsis of 2nd Ambient Intelligence Workshop (2004) at online. See ETH Zurich work on RFID locations.
• G. Barber and E. Tsibertzopoulos, "An Analysis of using Epcglobal Class-1 Generation-2 RFID Technology for Wireless Asset Management," Proc. IEEE MILCOM 2005.
• J. Bohn, "Prototypical Implementation of Location-Aware Services Based on Super-Distributed RFID Tags," 9th International Conference on Architecture of Computing Syst.–System Aspects in Organic Computing (ARCS 2006), March 2006.PDF file
• J. Bohn and F. Mattern, "Super-Distributed RFID Tag Infrastructures," Proc. 2nd European Symp. on Ambient Intelligence (EUSAI 2004), November 2004. PDF file
• H. D. Chon, et al., "Using RFID for Accurate Positioning," in Papers presented at the 2004 International Symposium on GNSS, Sydney, Australia, 6-8 December,2004, 10 pgs.
• C. Englund and H. Wallin, "RFID in Wireless Sensor Network," Master's thesis, Chalmers U. of Technology, Sweden, 2004. online
• A. Feldman, "ReachMedia: On-the-Move Interaction with Everyday Objects," MIT Master's thesis, September 2005. PDF file
• S. Haagensen, "When Safety Matters: Using Active RFID Down in the Mines," Sensors Magazine, February 2004. online
• Kulyukin, et al., "RFID in Robot-Assisted Indoor Navigation for the Visually Impaired," Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Syst. (IROS 2004). online
• H. Okubu, et al., "Integrated Wayfinding/Guidance System Using GPS/IR/RF/RFID Mobile Device," online presentation at Cal State Northridge 2005 Conf. on Technology and Persons with Disabilities.
• T. A. Scharfeld, "An Analysis of the Fundamental Constraints on Low-Cost Passive Radio-Frequency Identification System Design,"
MIT Master's thesis, 2001. PDF file
• H. Seppa, "Functional Environment--the Future User Interface Based on RFID Technology and Printable Electronics," presentation at Helsinki IT Assoc., 2004. PDF file

Sensor Technologies related to project

• J. Bernstein, "An Overview of MEMS Inertial Sensing Technology," Sensors, February 2003. online
• N. Yazdi, et al., "Micromachined Inertial Sensors," Proc. IEEE, vol. 86, pp. 1640-1659 (August 1998). online

PHOTO GALLERY
1. From our lab in Boulder
 
2. From our lab in Gaithersburg
 

		RFID field testing apparatus for ISO 14443 and 10373 standards.
Load Modulation Testing.
		Resonant frequency testing.
Contactless RFID testing and analysis setup.
		Contactless RFID testing and analysis setup (closeup).

Gaithersburg photos
 

		900 MHz RFID reader/writer development board and battery
RFID tag "posted" outside Room 440 (with explanation)
		Display of detected tag's location using demo software (the tag ID contains the tag's x-y location in tenths of meters and the number of the nearest room)