Paper Info
Title
NIKE BLUETRACK: Blue Force Tracking in GNSS-Denied Environments Based on the Fusion of UWB, IMUs and 3D Models
Abstract
Blue force tracking represents an essential task in the field of military applications. A blue force tracking system provides the location information of their own forces on a map to commanders. For the command post, this results in more efficient operation control with increasing safety. In underground structures (e.g., tunnels or subways), the localisation is challenging due to the lack of GNSS signals. This paper presents a localisation system for military or emergency forces tailored to usage in complex underground structures. In a particle filter, position changes from a dual foot-mounted INS are fused with opportunistic UWB ranges and data from a 3D tunnel model to derive position information. A concept to deal with the absence of UWB infrastructure or 3D tunnel models is illustrated. Recurrent neural network methodologies are applied to cope with different motion types of the operators. The evaluation of the positioning algorithm took place in a street tunnel. If a fully installed infrastructure was available, positioning errors under one metre were reached. The results also showed that the INS can bridge UWB outages. A particle-filter-based approach to UWB anchor mapping is presented, and the first simulation results showed its viability.
Year
DOI
Venue
2022
10.3390/s22082982
SENSORS
Keywords
DocType
Volume
indoor localisation, blue force tracking, multi-sensor fusion, UWB, foot-mounted inertial navigation, tunnel model, 3D model, machine learning
Journal
22
Issue
ISSN
Citations 
8
1424-8220
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Karin Mascher100.34
Markus Watzko200.34
Axel Koppert300.34
Julian Eder400.34
Peter Hofer500.34
Manfred Wieser600.34