Foot- and Knee-mounted INS for Firefighter Localization

Abstract

An initial study concerning the possibilities and challenges when using zero-velocity update aided (foot-and knee-mounted) inertial navigation systems (INS) in firefighter applications has been conducted. The aim was to provide recommendations concerning the use of zero-velocity update aided INS in future firefighter localization systems. Dual foot-mounted INS were mounted on fully equipped smoke divers that moved in realistic ways mimicking operations in smoke-filled environments. The way the firefighters moves highly impacts the performance and different firefighter movements are described. The need for dual foot-mounted sensors is analyzed. Furthermore, considering crawling motions, where the possibilities of achieving regular zero-velocity updates in foot-mounted sensors are limited, the benefits of using a combination of foot- and knee-mounted INS are shown.