TrackIO: Tracking First Responders Inside-Out
TrackIO: Tracking First Responders Inside-Out
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发表时间：
2019
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通讯作者：
Ashutosh Dhekne;Ayon Chakraborty;K. Sundaresan;S. Rangarajan
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作者：
Ashutosh Dhekne;Ayon Chakraborty;K. Sundaresan;S. Rangarajan
第一反应者是任何社会的关键生命线，他们经常发现自己处于危险的境地。在未知的室内环境中实时跟踪它们的能力将大大有助于它们的使命的成功以及它们的安全。在这项工作中，我们提出了TrackIO的设计，实施和评估系统能够准确地定位和跟踪移动的响应者在大型室内环境中实时。TrackIO利用无人机（UAV）提供的移动的虚拟基础设施，再加上超宽带（UWB）提供的均衡穿透精度权衡，直接从外部实现这一目标，而无需依赖任何室内基础设施。TrackIO在其设计中结合了四种新颖的机制，以解决关键挑战，从而能够跟踪响应者（i）具有潜在非均匀速度（例如在转弯期间）的移动的，（ii）具有挑战性可达性的室内深处，（iii）即使对于大型网络也是实时的，以及（iv）即使受到UAV位置误差的影响也具有高精度。TrackIO的实际性能表明，它可以实时跟踪大型建筑物中的静态节点，平均精度约为1-1.5 m，移动的（甚至运行的）节点的平均精度为2-2.5 m。
First responders, a critical lifeline of any society, often find themselves in precarious situations. The ability to track them real-time in unknown indoor environments, would significantly contributes to the success of their mission as well as their safety. In this work, we present the design, implementation and evaluation of TrackIO—a system capable of accurately localizing and tracking mobile responders realtime in large indoor environments. TrackIO leverages the mobile virtual infrastructure offered by unmanned aerial vehicles (UAVs), coupled with the balanced penetration-accuracy tradeoff offered by ultra-wideband (UWB), to accomplish this objective directly from outside, without relying on access to any indoor infrastructure. Towards a practical system, TrackIO incorporates four novel mechanisms in its design that address key challenges to enable tracking responders (i) who are mobile with potentially non-uniform velocities (e.g. during turns), (ii) deep indoors with challenged reachability, (iii) in real-time even for a large network, and (iv) with high accuracy even when impacted by UAV’s position error. TrackIO’s real-world performance reveals that it can track static nodes with a median accuracy of about 1–1.5 m and mobile (even running) nodes with a median accuracy of 2–2.5 m in large buildings in real-time.