GLANSER A Scalable Location & Tracking System for First - PowerPoint PPT Presentation

GLANSER – A Scalable Location & Tracking System for First Responders Status Update Honeywell, Argon ST, TRX Systems August 6, 2012

Acknowledgments • The GLANSER program is being supported by funding from the Department of Homeland Security; Science and Technology Directorate under contract #N10PC20002 • Jalal Mapar, GLANSER Program Manager, DHS S&T (email: jalal.mapar@dhs.gov) 2

Outline • System Overview (concept and initialization) • High-level Option-by-Option goals • Navigation and System - Option 1 Status - Field Trials - Option 2 Plans • Ranging and Communications - Option 1 Status - Option 2 Plans • Command and Display Unit Software - Option 1 Status - Option 2 Plans - Networking • Summary and Next Steps 3

What is the GLANSER System? • System that reliably and accurately locates and tracks first responders • System comprised of: Set of personal integrated locator devices in a vehicle-mounted panel unit Software for real- time visualization of responder location, tracks, and status 5

System Overview Geospatial Locator Unit Ranging and ER Communication Network (GLU ) GLANSER Backbone (mesh + data + ranging + nav) Network ER ER Anchor Panel Unit Anchor Panel Unit (APU) Command and Incident Commander/ Accountability Officer/ Display Unit (CDU) ER • Sentrix User Interface • Map corrections processing Anchor Panel Unit (APU) • Charging rack for GLU • Detachable base station • Geo referencing capability System is simple to deploy and use 6

GLANSER Options Goals Option 1 (POP 12 Months) Option 2 (POP 12 Months) Option 3 (POP 7 Months) Feature and performance Miniaturization and integration Technology transfer evaluation May 2, 2011 May 2, 2012 May 2, 2013 December 1, 2013 • ~ 4” x 4” x 12” 10 Mobile • 3m accuracy 3 Base • 4 hr battery Additional features • Mobile mesh Field trials • ~ 4” x 3” x 7”, network • 1m accuracy • Map 15 Mobile • 6 hr battery 4 Base heuristics • Cluster affinity • UI scalability Field trials Additional features • Auto-map • 4” x 2” x 6” generation • Software updates 20 Mobile • Training Update hardware manuals Sys Doc Field trials Spiral development mitigates risk 7

Option 1 System GLU APU CDU 8

Option 1 Key Accomplishments • Integrated Honeywell navigator with TRX display/heuristic corrections, Argon ST radio • Reduced form factor from 18”x11”x2” to 4”x3”x10” • Accuracy ~3m (w/o ranging) • 95% accuracy identifying correct floor • Demonstrated auto-initialization • Multi-hop radio mesh capability for 2012 scalability and range 200% reduction in form factor • Successful field trials with North Las Vegas FD - Demonstrated tracking of up to 5 firefighters - Apartment building, large warehouse - Multiple scenarios: search & fire suppression, RIT extraction • Successful 2 unit Demo at FDIC 2011 9

Field Trial • Conducted with North Las Vegas Fire Department - April 9-11, 2012 - Chief Al Gillespie - Coordinated by Chief Timothy Sendelbach - Observed by 4 Fire Chiefs from Orange County Fire Departments • 2 different types of buildings - Multi-story apartment complex - Large active commercial warehouse • Involved multiple volunteers from different companies - Provided feedback on usability - Opportunity to evaluate variation in performance due to mounting choice, gaits, procedures 10

Field Trial Buildings Multi-unit 2-story apartment complex Large commercial warehouse 11

Field Trial Building Interiors 12

Field Trials Scenarios • System - Up to 4 backpack/SCBA units - 1 APU & 1 base station • Multiple scenarios (20-30 min) - Missions conceived and executed by NLVFD personnel - Search & fire suppression (2-3 situations) - RIT intervention and extraction of down firefighter (2 situations) - Guiding lost firefighter to safety • Lessons learned - Liked: accuracy, heading indication, 3D view, instantaneous usability off the truck, getting floor right 95% of the time - Improvements needed: size/weight, anti-snag form factor 13

Field Trial Video 14

Performance Analysis Test Scenario • Honeywell facility at Golden Valley, MN - large 2-story office bldg • Standalone GLU no ranging • Path distance = 1KM, 20 minutes • 7 tests executed • Outdoor initialization with transition to inside • Motions included walking, crawling, multiple floor transitions • 14 pre-surveyed points used for truth 16

Standalone GLU Performance • Performance is based on relative navigator only - IMU/Doppler/Motion model Earth Frame Error Plot 10 measurements only Error Data North STDV: 1.78 m 1  Ellipse 8 - No absolute ranging or East STDV: 2.98 m Mean Error North MEAN: -2.76 m collaborative navigation 6 East MEAN: 1.68 m - No map-based corrections 4 North Error [m] • Results show high degree of 2 0 consistency over 7 runs -2 - No points were edited -4 - No “outliers” -6 - Cluster exhibits a 2m N/E bias -8  Likely a Doppler calibration issue -10 -10 -5 0 5 10 East Error [m] 17

PPE Integration • SCBA mounting tested - Good location for navigation performance (Doppler and IMU position) - Designed for PASS integration • Factors considered - Comfort - Usability - Navigation performance • User feedback shows that clip-on to SCBA with PASS integration best meets above criteria 18

Option 2 System Plans • Replace HG1930 IMU with low cost alternative • Replace 24GHz Doppler with 92 GHz, multi- beam - 3-4x smaller form factor • Further GLU reduce form factor by integrating navigation and processing on single board • Complete PASS integration • Conduct additional field trials and demonstrations • Incorporate ranging and collaborative navigation • Continue/refine heuristic corrections from UI system 19

Option 1 System: Comm & Ranging GLU APU CDU 20

GLANSER Network Architecture ER - Emergency Responder Ethernet/USB GLU - Geospatial Locator Unit 900 MHz Ranging and Comms APU - Anchor Panel Unit CDU – Command Display Unit APU AP - Access Point NMS – Network Management System GW - Gateway Cluster A ER GLU Base AP/ ER GLU Router WiFi Mesh Backhaul Network APU ER GLU ER GLU Base AP/ CDU/ UI ER GLU ER GLU Router GW/ NMS CDU ER GLU UI Cluster B ER GLU • HyNet (Hybrid Network) provides GLU networking capability - Combines wireless infrastructure-based networking and mobile ad-hoc networking (MANET) for extending range - Up to 3-hop data relay within cluster for GLUs not in contact with the Base Station - GLU may transition clusters based on communication link and ranging geometry needs - Scalable to over 500 nodes • Mesh Backhaul Network (backbone network) - Connects cluster base stations and provides GLU data to CDUs 21

Option 1 System : GEP GLU APU GEP GLANSER Embedded Processor (GEP) provides: • Integrated RF crosslink for networking and ranging • Computer processor • Memory for data storage Option 2 GEP adds: • Honeywell navigation processing • GPS, magnetometer, and barometric sensors • Bluetooth wireless for Personal Area Network (PAN) CDU 22

Option 1 GEP Status GEP Radio Stack • Completed development of 2-board stack design (RF and Digital) - Modular RF board enables change to different frequency bands with no change to Digital board - Improved noise performance for signal acquisition and tracking 4.1” x 2.7” x 0.9” - Same GEP hardware for GLU, APU, and Base Station GEP Radio Enclosure - 17 units developed • Completed single cluster HyNet - Self-forming/self-healing network - Demonstrated 1-, 2-, and 3-hop data relay - Improved reliability of signal acquisition and tracking, and network join • Implemented ranging capability 23

GEP Outdoor Datalink Connectivity 3 Argon ST HQ ~300 m 12701 Fair Lakes Circle Fairfax, VA ~150 m 2 ~250 m B 1 • Successful demonstration of multi-hop capability at extended ranges • 1 Base Station and 3 Host Node GEPs 24

GEP Indoor Datalink Connectivity Argon ST HQ 12701 Fair Lakes Circle Fairfax, VA 3 2 B 1 • Successful demonstration of multi-hop capability in indoor office building - 3 mobile units on multiple floors, with elevators and stairwells - Base station located outside on street - Stressed signal reacquisition with changing parents 25

Option 2 GEP Work Plan • Hardware re-spin to incorporate additional features: - Bluetooth interface for personal area network (PAN) - Interfaces for Honeywell IMU and Doppler radar sensors - Onboard barometer, magnetometer, and GPS Receiver - Update power circuit • Software and firmware development - HyNet multi-cluster with cluster transitions - Interfaces and drivers for new navigation sensors and Bluetooth - Integration of Honeywell navigation software 26

Option 1 System: CDU GLU APU CDU 27

Key Features Implemented • GLANSER GLU Integration - Automatic detection and provisioning of GLUs - Receives and displays GLU location data - Implements interface for transmitting location corrections • Map-based Location Corrections - Implements elevation corrections for display • User Interface Building Editor Capability - Implements open standards (OGC) for storing spatial features - Implemented first version of building editor - Supports on-scene entry of building outline, floors, and floor elevation - Supports importing of floor-plan images - Supports placing of stairwells, elevators, and exits 28