WPI Workshop

August 2, 2010

Honeywell GLANSER Emergency Responder

Locator System

Honeywell.com

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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

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Am

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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

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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