an indoor positioning system for improved action force command and disaster management
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Institute for Building Informatics
Indoor Positioning System ISCRAM2009
1
Ulrich WalderUniv.-Prof. Dipl. Ing. ETH Dr. techn.
Thomas Bernoulli, MSc
Thomas Wießflecker, Dipl. Ing.
Graz University of Technology Austria
An Indoor Positioning System for Improved Action Force Command and Disaster Management
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
2
Content•
Why do we need indoor positioning?
•
What technologies exist?
•
The TU Graz CADMS (Computer Aided Disaster Management System)
•
Achieved results
•
Future research and civil applications
Ulrich Walder, Graz University of Technology, Austria
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
3
Why do we need Indoor Positioning?Action Force Command•
Real-time information about the situation of deployed teams and the affected areas is needed!
Disaster Management•
Urban development ► higher density ► large roofed areas
•
High vulnerability against fire, flood and terror
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
4
Traditional Indoor Positioning Systems•
Based on preinstalled infrastructure–
HS-GNSS (GPS)
–
Wireless LAN–
Ultra Wide Band
–
RFID–
Cameras
Many disadvantages:•
Either not possible (GPS),
•
too expensive,•
too time-consuming or
•
not accurate enough
Ulrich Walder, Graz University of Technology, Austria
Better solution withDead Reckoning System
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
5
TU Graz IPS –
what is it?Positioning Equipment for Deployment ForcesHardware
inertial measurement unitlightweight wearable computerhead mounted display
Software motion pattern analysis intelligent sensor-map interactionhands free, speech driven user interaction
IPS is the core of a Disaster Management SystemCommand StationHardware
computer / notebook
Network
WLAN or UMTSSoftware
operation command and control system
Ulrich Walder, Graz University of Technology, Austria
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
6
Accelerations
-40
-30
-20
-10
0
10
20
30
40
50
227 227.5 228 228.5 229 229.5 230
time
ax -
ay -
az
Step recognition with new sensor calibration
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
7
Upd
ate
Engi
ne
data storing
local position data
remote position data
status information
network
floor plansdwg, dxf, atl
standardized XML format
sign
allin
g
status information
correctedposition data
additional building information
CAFM
Real-
time
verification andcorrection
communication
graphic display
within a lightweight application running in the control room and on-site
System Architecture
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
8
Building Information Model (BIM)•
Graphic data is available in developed countries for most major facilities from CAD or CAFM Systems
•
Standardised formats are defined (dwg, dxf, ifc-XML)•
Aerial photos can replace precise maps
Integration of Computer Aided Facility Management Data
and Real-time Information in Disaster Management
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
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Enhanced BIM Data → “Intelligent Maps”•
Pure graphic data are enhanced by attributes for walls, transition objects (doors, stairs, etc.) and the surrounding
•
Local position is verified permanently with corresponding map•
Repositioning is automatically performed if necessary
•
A hands-free graphic user interface allows for user corrections
Integration of Computer Aided Facility Management Data
and Real-time Information in Disaster Management
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
10
TU Graz Indoor Positioning System
System benefits1.
No installations in buildings necessary
2.
High positioning accuracy (< 2 m)
3.
Small and handy system (foot or hip mounted)
4.
Maps can easily be derived from floor plans
5.
Autonomous operation in case of transmission interrupts
6.
Great potential for civil applications
Ulrich Walder, Graz University of Technology, Austria
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
11
Typical Results -
Outdoor Test
Ulrich Walder, Graz University of Technology, Austria
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
12
Typical results(in a heavily disturbed magnetic fieldenvironment next to a railway track)
Ulrich Walder, Graz University of Technology, Austria
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
13
Typical results(hip mounted sensor)
Ulrich Walder, Graz University of Technology, Austria
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
14
Communication Network
Ulrich Walder, Graz University of Technology, Austria
802.11 link
low data rate link
comm and andcontrol center
mobiledevices
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
15
Static Sub-model
3 destroyedcolumns →
removed elements
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
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.
.BEAM 1996 JOINTS 952 951 0.0BEAM 1997 JOINTS 953 952 0.0BEAM 1998 JOINTS 954 953 0.0BEAM 1999 JOINTS 955 954 0.0BEAM 2000 JOINTS 956 955 0.0*, COLLAPSED BEAMSINACTIVE BEAM 61INACTIVE BEAM 62INACTIVE BEAM 63*, SUPPORT CONDITIONSN N N N N N JOINTS 33 TO 64 72 73 81 82*, ELEMENTMESH DRAWINGSDRWAWING SCALE 100. VIEWPOINT -1. -2. .5 ELEMENTS*..
.<IfcRelDefinesByProperties
id="i2"><HasProperties>
<IfcBeam><GlobalId>295H6hv1z5T</GlobalId><Name>Element4931</Name>
</IfcBeam><IfcPropertySet>
<HasProperties><IfcPropertySingleValue>
<Name>ReferenceToFE</Name><NominalValue>BEAM61</NominalValue>
</IfcPropertySingleValue></HasProperties>
</IfcPropertySet></HasProperties>
</IfcRelDefinesByProperties>.
Link of the Static Sub-model with the BIM
BIM -
XML (graphic + object sub-model)
Input file for structural analysis (static sub-model)
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
17
Future Research•
Augmented reality applications
–
Personal guidance
–
Personal safety
•
Install CADMS on mobile phones
Where ever you go –
you know where you are!
Ulrich Walder, Graz University of Technology, Austria
Institute for Building Informatics
Indoor Positioning System ISCRAM2009
18
Thank you for your attention!
Ulrich Walder, Graz University of Technology, Austria
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