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

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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)

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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

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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

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System Overview

Ranging and Communication Network GLANSER Backbone Network ER Anchor Panel Unit Anchor Panel Unit (APU)

Geospatial Locator Unit (GLU)

(mesh + data + ranging + nav)

Anchor Panel Unit (APU)

• Charging rack for GLU
• Detachable base station
• Geo referencing capability

Command and Display Unit (CDU)

• Sentrix User Interface
• Map corrections processing

ER ER Incident Commander/ Accountability Officer/ ER

System is simple to deploy and use

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Option 1 (POP 12 Months)

Feature and performance evaluation

Option 2 (POP 12 Months)

Miniaturization and integration

Option 3 (POP 7 Months)

Technology transfer May 2, 2011 May 2, 2012 May 2, 2013 December 1, 2013

10 Mobile 3 Base Field trials 15 Mobile 4 Base 20 Mobile Update hardware

• ~ 4” x 4” x 12”
• 3m accuracy
• 4 hr battery
• Mobile mesh

network

• Map

heuristics

GLANSER Options Goals

• 4” x 2” x 6”
• Software

updates

• Training

manuals

• ~ 4” x 3” x 7”,
• 1m accuracy
• 6 hr battery
• Cluster affinity
• UI scalability
• Auto-map

generation

Sys Doc Field trials Field trials

Additional features Additional features

Spiral development mitigates risk

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Option 1 System APU CDU GLU

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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

scalability and range

• 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 2012

200% reduction in form factor

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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

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Field Trial Buildings

Large commercial warehouse Multi-unit 2-story apartment complex

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Field Trial Building Interiors

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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
• f 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

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Field Trial Video

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Performance Analysis Test Scenario

• Honeywell facility at Golden Valley, MN - large 2-story
• ffice 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

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Standalone GLU Performance

• Performance is based on

relative navigator only

• IMU/Doppler/Motion model

measurements only

• No absolute ranging or

collaborative navigation

• No map-based corrections
• Results show high degree of

consistency over 7 runs

• No points were edited
• No “outliers”
• Cluster exhibits a 2m N/E bias

 Likely a Doppler calibration issue

• 10
• 5

5 10

• 10
• 8
• 6
• 4
• 2

2 4 6 8 10

East Error [m] North Error [m] Earth Frame Error Plot North STDV: 1.78 m East STDV: 2.98 m North MEAN: -2.76 m East MEAN: 1.68 m Error Data 1 Ellipse Mean Error

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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

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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

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Option 1 System: Comm & Ranging APU CDU GLU

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WiFi Mesh Backhaul Network

Cluster A

APU ER - Emergency Responder GLU - Geospatial Locator Unit APU - Anchor Panel Unit Ethernet/USB ER GLU Base 900 MHz Ranging and Comms ER GLU ER GLU UI CDU AP/ Router AP - Access Point NMS – Network Management System CDU – Command Display Unit

Cluster B

APU CDU/ GW/ NMS UI ER GLU ER GLU ER GLU AP/ Router GW - Gateway ER GLU Base ER GLU

GLANSER Network Architecture

• 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

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Option 1 System : GEP APU CDU GLU 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)

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Option 1 GEP Status

• 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

• Same GEP hardware for GLU, APU, and

Base Station

• 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

GEP Radio Stack GEP Radio Enclosure

4.1” x 2.7” x 0.9”

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GEP Outdoor Datalink Connectivity

• Successful demonstration of multi-hop capability at

extended ranges

• 1 Base Station and 3 Host Node GEPs

B 1 2 3 ~300 m ~150 m ~250 m

Argon ST HQ 12701 Fair Lakes Circle Fairfax, VA

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GEP Indoor Datalink Connectivity

• 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

Argon ST HQ 12701 Fair Lakes Circle Fairfax, VA

B 1 2 3

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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

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Option 1 System: CDU APU CDU GLU

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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

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Key Features Implemented

• User Interface Usability Improvements
• Based on VOC and Human Factors feedback
• Introduced Toolbar for access to major functions
• Introduced hide-able, dock-able sidebars for information

about personnel, teams, personnel status and elevation

• Maximizes screen use for location and environment

visualization

• User customizable screen organization
• User customizable teams
• Access to user functions relocated to be close to element

being acted upon (e.g., on-screen map controls, tracked- person functions accessed by clicking on person)

• User Interface Incident Scalability Improvements
• Searchable, sorted, filtered list of personnel and teams
• User selection of displayed/hidden personnel by personnel

and team

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UI Screenshot – FDIC (1 of 2)

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UI Screenshot – FDIC (2 of 2)

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Plans for next Phase

• Map-Based Corrections
• Elevation corrections for display (improvements)
• Location and Heading Corrections
• Automatic detection of building features
• Data Management
• CDU-to-GLU data request for missing location data
• Performance and Scalability Improvements
• User Interface
• Usability Improvements based on user feedback
• GIS Visualization Improvements
• Improved on-screen map editing capability
• Display of auto-detected building features
• Presentation of route calculations

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UI Plans – Current User Interface

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UI Plans – Current Comps

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Summary

• Option 1 efforts combined Honeywell’s navigator with Argon ST’s

GEP and TRX’s UI & heuristics

• The GLU was repackaged and performance revalidated
• Initialization procedures were refined and tested
• A new modular form factor GEP was designed and functionality was

validated

• The UI was redesigned with significant VOC inputs
• System was exercised during several demos and an extensive field trial
• Option 2 system will further integrate the navigator into the GEP
• The navigator will employ a low cost IMU and low volume Doppler
• SWaP will be further reduced
• Ranging and Hynet mesh operability will be fully implemented
• The UI feature set will be expanded and further refined
• Further field trials will take place
• Transition plans for a producible system will be matured

On track to deliver a robust, reliable location system