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WPI Workshop
August 2, 2010
Honeywell GLANSER Emergency Responder
Locator System
Honeywell.com
2
Integrated First Responder Locator (GLANSER)
• Geospatial Locator Unit (GLU)
oCompact multisensor locator unit
integrated into First Responder
PPE
o Provides location sensing, RF
ranging, and communication to
command display.
UWB Ranging
Radio
Voice/Data
Communications
Radio
GLANSER Elements
• Anchor Node Unit (ANU)
o Truck mounted reference
node defining position relative
to fire ground.
o Provides location corrections
and barometric offsets to
locator unit
• Command Display Unit (CDU)
o 2D/3D display of location and
status information to the incident
commander
Additional trucks
and firefighters
increase
accuracy and
size of coverage
area
Honeywell.com
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Anchor Node Unit (ANU)
ANUs provide geo-referenced
range/aiding to ER locator units
• Provides precise range and
barometric pressure offset to
firefighters
• Automatic positioning using
GPS/UWB during travel to incident
• Devices mounted on vehicles
arriving at scene.
• Provide wireless interface to
multiple command display units
• Additional standalone units
deployed as needed during 360
assessmentUWB Ranging
Radio
Voice/Data
Communications
Radio
Honeywell.com
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Commander Display Unit (CDU)
CDU provides 2D/3D
building visualization
• Touch sensitive mobile
display
• Visualization of key
building data through
standard icons and easy
to understand
representations
• Support for multiple fire
fighters and man-down
alarms
• Map building tools to
create floorplans
Honeywell.com
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Geospatial Locator Unit (GLU)
HG1930 IMU
Doppler Radar
P400TOA Ranging
Pressure Sensor
Ad Hoc MeshCommunications
GPS/DGPS
Device worn by the First
Responder providing core
navigation function
• Maintains position of FF at all timeso No loss of info during RF outage
o Provides FF orientation in addition
to position
• Low communication bandwidth to
Incident Commander
• Provides position and heading
through gaps in ranging radio
coverage
• Scalable to very large teams (> 500
ERs)
• Peer-to-peer ranging between GLUs
provides additional accuracy
• Autonomous operation ensures no
single point of failureTime Domain
Ranging Radio
Battery
Ethernet Switch
UWB Antenna
Microhard 900 MHz
Com radio
Navigation
Processor
Honeywell IMU
Doppler test
mounting location
GPS Antenna
GPS
Power supply
Current Prototype
Honeywell.com
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Navigation Solution Architecture
Altimeter
Magnetic
Sensors
GPS/DGPS
Motion
Classification
Input
Preprocessing
Measurement
Prefilter
• Human Model
• User State
Kalman
Filter
Inertial
Navigation
Pseudorange
Navigation
Confidence
Velocity
Navigation State
Distance
Traveled
Inertial
Sensors
Magnetic Sense
Altitude Sense
Navigation
Solution
KFResets
KFResets
KFResets
UWB Radio
UWB Range
Doppler
KFResets
Honeywell.com
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Time Domain UWB Ranging Radio
Provides position corrections using distance to fixed anchor points or other mobile devices
• Proven COTS radio platform extended to support GLANSER requirements
• High Range Resolution -- high bandwidth (spiked) pulses maximize direct path detection and therefore range resolution
• Picosecond timing supports ranging accuracy < 3cm• Highly scalable though code division multiplexing and support for
multiple ranging approaches of TOA, AOA, and TDOA. • Eliminates need for precisely synchronized receivers.• Mitigates errors due to multipath and interference through
detection of first arriving signal rather than sinusoidal phase difference.
• Not subject to Rayleigh fading found in continuous wave waveforms
Ba
se
ba
nd
Am
pli
tud
e
Time (ns)
HG1930 IMU
Doppler Radar
P400TOA Ranging
Pressure Sensor
Ad Hoc MeshCommunications
GPS/DGPS
Honeywell.com
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HG1930 Inertial Measurement Unit
HG1930 IMU
HG1930 IMU
Doppler Radar
P400TOA Ranging
Pressure Sensor
Ad Hoc MeshCommunications
GPS/DGPS
Inertial Measurement Unit (IMU)
provides acceleration and rotation
adjustments to position estimates
• The IMU includes 3 gyros and 3
accelerometers and is the basis of the 50 Hz
strapdown location determination
• Provides acceleration and angular rate
measurements oUsed by strapdown navigation solution and
motion model
• Heading stability ~ 1 deg/hr
• Pitch and roll determined to < 0.5 deg
Honeywell.com
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Doppler Aiding
Doppler Aiding enhances location accuracy
in absence of RF ranging
• Honeywell GLANSER achieving velocity
resolution of < 5cm/s. Expect to provide < 2 cm/s
with tuning.
• Draper fielded PPS system demonstrated < 5m
accuracy in indoor/outdoor testing
• Enhances GLANSER solution by:o providing velocity aiding
to increase RF coasting
performance
o enhances vertical
performance
o providing logic ZUPT gated
by Doppler response
HG1930 IMU
Doppler Radar
P400TOA Ranging
Pressure Sensor
Ad Hoc MeshCommunications
GPS/DGPS
94 GHz Doppler
Honeywell.com
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Other Location Elements
Processing Platform
Digital Compass
Pressure Sensor
GPS Rx
HG1930 IMU
Doppler Radar
P400TOA Ranging
Pressure Sensor
Ad Hoc MeshCommunications
GPS/DGPS
Other General Components
• Pressure sensor used to provide vertical
measurements
• GPS receiver used to provide initialization and
common time reference
• Magnetometer used for heading initialization
Honeywell.com
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Harris Network Communications Infrastructure
• GLU contains Mobile Ad hoc Network (MANET) radio supporting First Responder voice/data needs
– Network performance analysis of throughput requirements validates need for dedicated comms radio to provide sufficient bandwidth and range to support
o Network management for large self reconfigurable mesh networks
o Anticipated future bandwidth need for voice + data + telemetry
• Radio design adaptable to support variety of channel allocations and future integration with P25 emergency radio
• Leverages multiple field proven technologies available for integrated communications solution
– Falcon III Handheld Radio
– Unity First Responder Radio
– 7800S SPR Networking Radio
– ANW2 Networking Waveform
– AODV Routing Protocol
AN/ARC-152
Falcon III HH Unity XG-100P
B
A
S EF
H
J
D
C
G
IK
Z
Y
M
N
LB
A
S EF
H
J
D
C
G
IK
Z
Y
M
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MANET Performance Analysis
GLANSER
Integrated Sensor Suite
& Networking Radio
7800S SPR
Honeywell.com
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Initial Results – Single Floor
Single Floor – 45 minutes, 4 runs
• Multistory industrial brick building, concrete structure,
second floor above street level
• Walking motion only
• Location solution is “repeatable” to within 2 meters in 3D
Location solution based solely on Inertial, ranging
radio
and Doppler
4 Externally
located anchors
(ranging radios)
Office EnteredSingle Floor - “repeatable”
to within < 2 m (2D)
Honeywell.com
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Initial Results – Multiple Floor
Multiple Floor – 45 minutes, 3 Floors
• Multistory industrial brick building, 1st, 2nd
& 3rd floor
• Walking motion including stair
climbs
• Location solution is repeatable to within
2.5 meters in 3D
o Location solution based solely on
Inertial, ranging radio and Doppler
o 4 Externally located anchors
(ranging radios)
• Stairway traversed multiple times
and demonstrates excellent
repeatability
o All points fit within
the stairwell
Interior
hallways vary
on each floor
as to absolute
location
Multiple Floor - “repeatable”
to within < 2.5 m (2D)
Horizontal
hallways
aligned on
each floor
Honeywell.com
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Initial Results – Single Floor Crawling
Crawling 3rd Floor < 7 minutes
• Multistory industrial brick building 2rd floor
• Crawling motion
• Location solution is repeatable to within
2.5 meters
o Location solution based solely on
Inertial, ranging radio and Doppler
o 4 Externally located anchors
(ranging radios)
• Limited evaluation to date, but results are
consistent with other testing
Single Floor Crawling - “repeatable”
to within < 2.5 m (2D)
Honeywell.com
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Transition Plans – Making GLANSER a Reality
• Miniaturization and cost reduction– UWB radio
– IMU
• Integration with PPE– Explore options for integrated and distributed packaging
– How to distribute weight (helmet, jacket, pants, boots, SCBA, etc)
• Standards development with NFPA 1800 and NEMA SB30
• Mesh communications radio and interoperability with existing P25 infrastructure
• Refine concept with fire departments across North America (US, Canada, Mexico)
– Design reviews planned with multiple rural and urban FD
– Testing assistance from Plymouth, MN & Minneapolis, MN FD
• Robustness and durable packaging
• Testing, testing, and testing
This program has been supported by funding from the Department of Homeland Security Office of
Science and Technology under contract #N10PC20002
Feasibility &
performance
Feature testing
with first
responders
Form-fit-
function
Testing
Operational
Field Testing
Full Field
Testing
Development Path