JP2004518201A - Human and resource tracking method and system for enclosed spaces - Google Patents

Abstract

A system for tracking people (25) or things. One or more tracking units (100) are associated with a tracked person or object. Each tracking unit includes one or more accelerometers and one or more gyroscopes to provide distance and heading or direction information. The main control station (MCS, 200) receives distance and direction information or position information based thereon. The MCS (200) also includes a display for displaying at least one location of the tracking unit. An MCS for determining a reference point and heading for the at least one tracking unit, determining the position based on the set of distance and direction information, data from the accelerometer and gyroscope providing distance and direction information. Be programmed.

Description

[0001]
Related U.S. Patent Applications
This application claims the benefit of US Provisional Patent Application Serial No. 60 / 252,599, filed November 22, 2000, which is incorporated herein by reference in its entirety.
[0002]
Background of the Invention
1. Field of the invention
The present invention generally relates to a human inertial tracking system that can be used in enclosed spaces such as inside buildings and underground.
[0003]
2. Description of related technology
Various systems exist for locating and tracking people and objects. Such systems typically rely on the now ubiquitous Global Positioning System (GPS), consisting of 24 satellites each transmitting a radio signal. In general, the position of the GPS receiver is determined through trilateration, or more generally, triangulation. The GPS receiver measures the distance between it and each of the three (or more) satellites based on the transmission time of the radio signal from the satellite to the GPS receiver. The distance corresponding to each satellite defines the sphere of possible locations, the intersection of the three spheres defined by the three satellites at two points. One of the two points is usually rejectable as an impossible location for the GPS receiver, and the second location remains as the location for the GPS receiver.
[0004]
However, such GPS systems have drawbacks. Notably, GPS systems require that a GPS receiver receive GPS radio signals from satellites. Therefore, the GPS system does not work if the GPS receiver cannot receive GPS signals. This drawback prevents GPS systems from being used in buildings, tunnels, high-rise urban environments, and other enclosed spaces. Thus, a need exists for an improved position measurement and tracking system, particularly one that can locate and track a person or object in an enclosed space.
[0005]
3. Summary of the Invention
Methods and systems according to certain embodiments of the present invention satisfy the above and other needs. One or more tracking units are associated with a tracked person or thing. Each tracking unit includes one or more accelerometers and one or more gyroscopes to provide distance and heading or direction information. The main control station (MCS) receives distance and direction information or position information based thereon. The MCS may also include a display for displaying at least one position of the tracking unit. An MCS determines the position based on the set of data from the accelerometer and the gyroscope, the set of distance and direction information, providing a reference point and direction determination, distance and direction information for the at least one tracking unit. Is programmed to
[0006]
Detailed Description of the Preferred Embodiment
INTRODUCTION
Provides methods and systems for inertial tracking, also known as dead reckoning, while limiting GPS and triangulation techniques when obtaining accurate and reliable 3D human location and tracking information in enclosed spaces I do. Embodiments of the present invention are particularly applicable to enclosed areas, such as between tall buildings, in buildings, underground areas, and the like. As will be appreciated, the system is robust enough to continue functioning against occasional short radio frequency (RF) dropouts or interference episodes. In difficult transmission areas, powerful portable relay stations can be omitted along the way, and the tracked object can be worn or carried to amplify the RF signal and maintain two-way communication between the PTU and the MCS. There is a personal tracking unit (PTU) and a main control station (MCS) that records and / or displays data from the PTU.
[0007]
In general, embodiments utilize co-located gyroscopes and accelerometers to provide data that the processor uses to store and calculate paths in essentially real time. Embodiments of the present invention provide a reliable method of providing "check-in", i.e., setting a starting point and an initial direction relative to a known reference, such as a position and orientation at or near the MCS. Three different separate exemplary check-in methods are now disclosed.
[0008]
Although the triaxial accelerometer is part of the PTU of one embodiment of the inertial tracking system, the present invention is in U.S. Pat. No. 5,652,570 issued to Lepkovka, which is incorporated herein by reference. It is envisaged to use the same (or different) three-axis accelerometer to derive an individual operating condition analysis by providing an oscillatory code to such a neural network. Operational events such as walking, getting on an elevator, going up and down stairs, and running can be distinguished without detailed route analysis. The same (or different) accelerometer is also used in some embodiments to detect falls (high initial acceleration), shocks (sharp pulses), immobility during a stop (man down), etc. To help locate the location immediately, or to alert the wearer of specific conditions, alert the MCS, strobe light, loud audible "voice", vibrating ringer, electronic beacon signal, etc. Combined with other alarm cues from biosensors to turn on the attached PTU beacon device, such as a detectable beacon signal.
[0009]
The display of the tracked person in the MCS within the building, if available, can be facilitated by digitized architectural design with the purpose of displaying a three-dimensional path as well as the features of the building. If an architectural design is not available, location data can be displayed in the MCS in a number of ways, such as "guessing" the architectural structure and displaying it along with human path information as people move through the structure. It becomes possible. For example, horizontal movement will infer the presence of a floor, and stair climbing will place the stairs at a particular location. This is handled by the display software in the MCS. In an alternative embodiment, the PTU may include an interface device, such as a push button, coupled to the processor for the person to communicate structural features.
[0010]
Although the present embodiment relates to position measurement and tracking of a person such as a firefighter, it should be understood that the present invention can be applied to position measurement and tracking of an animal or an object such as a train, a truck, a subway, or a shipping container. is there.
[0011]
appearance
An embodiment of the present invention will be described in detail below with reference to the drawings. Like reference numerals indicate like components. The schematic diagram of FIG. 1 gives the appearance of one embodiment of the invention and the interrelation of the components. Generally, the system of this embodiment uses gyroscope and accelerometer data to calculate the position of a person 25, such as a fireman, in any enclosed space, such as a building or underground, where GPS radio signals are not available. It should be understood that the embodiment shown in FIG. 1 is for illustrative purposes and is not limiting.
[0012]
As will be described in more detail below, person 25 is equipped with a personal tracking unit (PTU) 100 that collects data used to calculate the position of person 25. In this embodiment, PTU 100 collects both personal and environmental sensor data. PTU 100 transmits data to a master control station (MCS) 200, described in more detail below, via any wireless communication system known in the art. The system can potentially utilize many commercially available wireless data communication methods available from several different service providers. Some examples of the types of wireless data communication interfaces that can be used are Cellular Digital Packet Data (CDPD), Global System for Mobile Communications (GSM) Digital, Code Division Multiple Access (CDMA). ), And digital data transmission protocols (eg, 2.5G or 3G) associated with any “G” mobile phone standard. In this embodiment, the system can use other protocols such as Transmission Control Protocol (TCP), but uses CDPD as a communication technology and Internet Protocol (IP) along with User Datagram Protocol (UDP) as a transmission protocol. I do. In alternative embodiments, RF uses a two-way pager or wireless local area network communication.
[0013]
The system may optionally include one or more signal relay stations 40 that function as relays or repeaters to receive, amplify, and retransmit transmissions between the PTU 100 and the MCS 200. Such relay stations 40 may be pre-installed or deployed, for example, when used by firefighters.
[0014]
Hereinafter, two different embodiments of the route calculation method will be described. Both involve the use of a three axis velocity gyroscope such as the Silicon Vibration Structure Gyroscope Model CRS-03 from Silicon Sensing Systems of Japan. Both also involve the use of a co-located triaxial accelerometer, such as a model MMA1220D from Motorola Semiconductors of Phoenix, Arizona. These devices are preferably integrated into the PTU 100 carried by the monitored person or object. Alternatively, it can be used as both an accelerometer and a velocity gyroscope for a liquid-filled miniature tilt sensor such as that provided by Nanotron. In another embodiment, three single-axis orthogonal accelerometers can be used instead of a three-axis accelerometer. The offset from the MCS to the building facade is determined by using a laser or ultrasonic rangefinder.
[0015]
Exemplary PTU and MCS
FIG. 2A is a schematic diagram of the PTU 1000 and MSC 1001 of an embodiment of the present invention, where the PTU 1000 collects raw accelerometer and gyroscope data and sends the data to the MCS 1001. The MCS 1001 then uses the data to calculate the position of the person 25. In particular, readings from the triaxial accelerometer 1005 and triaxial gyroscope 1006 are sent to a microprocessor and associated memory 1009, which timestamps the reading and writes the data to a gap data file 1007 in a memory such as a random access memory (RAM). Store them simultaneously. PTU 1000 preferably has a local clock such as a crystal oscillator or other clock not shown. The PTU preferably includes a beacon signal generator for generating a detectable alert and / or beacon signal, as described above. Beacon 1013 can be activated by the user of MCS 1001 automatically by PTU 100 or manually by person 25 wearing PTU 1000. The microprocessor 1009 transmits data from the antenna 1010 to the reception antenna 1020 of the MCS 1001 via the transmission 1011 via the transmitter 1008.
[0016]
The microprocessor 1022 of the MCS 1001 executes the path algorithm (PA) software routine of all PTUs 1000 associated with the MCS 1001. More specifically, the MCS 1001 provides a single integration of the direction (or direction) velocity gyroscope 1006 data (from the receiver 1021) and distance and ultimately the position and / or path of the PTU ( Invokes a software routine that performs double integration of the triaxial accelerometer 1005 data (from receiver 1021).
[0017]
The MCS 1001 is programmed to create a display on a video display terminal (VDT) 1023. The PTU 1000 preferably continuously coats the oldest data with the latest data so that the file 1007 includes a copy of the data collected at predetermined intervals, such as one second or more. Such data is valuable in recovering from short communication failures. Bandwidth 1011 must be sufficient to secure current data, as well as transmission of "gap data" during recovery from a short power outage. Longer power outages beyond the depth of the stored data result in irreparable negligence in providing further path tracing of the PTU.
[0018]
The MCS 1001 also includes interface devices, such as a keyboard, keywords, etc., that allow a user of the system to enter data and instructions.
[0019]
PTU 1000 includes preferably one or more sensors 1012 coupled to a microprocessor 1009 that monitors biological or environmental conditions. Sensors are for monitoring human 25 physiological parameters such as heart rate, body temperature, brain activity, blood pressure, blood flow rate, muscle activity, respiration rate, blood oxygen, and / or temperature, humidity, operation, speed And sensors that monitor environmental parameters such as carbon monoxide concentration and the presence of certain chemicals. Special sensors may also be used, such as an inertial device-based fall detector (eg, utilizing one or more accelerometers) provided by Analog Devices under the trade name ADXL202. Another exemplary sensor includes a pulse rate sensor as Model ALS-230 from SensorNet and a temperature sensor (Model NTC) as Model WM303 or SP43A from Sensor Scientific. A pulse rate sensor is available from Sensor Net Inc. as model ALS-230. Infrared light sensors are also available from Probe.
[0020]
The sensor data is preferably analyzed by the microprocessor 1009 to determine whether the sensor data exceeds a preset threshold stored in local memory. If the threshold is exceeded, a message is generated and sent to alert the user of the condition. Preferably, the sensor data is also sent to the MCS 1001 to alert the controller / user. In some embodiments, an alarm condition, such as excessive environmental heat or carbon monoxide, triggers the beacon 1013.
[0021]
Hereinafter, an alternative embodiment of the present invention will be described with reference to FIG. 2B. This embodiment includes a PTU 1050 and an MCS 1051, which uses a microprocessor 1055 to execute path algorithm (PA) software routines and perform path calculations locally. In some embodiments, microprocessor 1055 may use more power than microprocessor 1009 of FIG. 2, but only the location and, if applicable, the location information analyzed to support display 1023 update. Since transmitted at predetermined intervals, some potential power savings can be realized at transmitter 1056 because transmission 1063 from transmit antenna 1057 to antenna 1062 is a narrower band link as compared to that of FIG. 2A. Conversely, receiver 1061 and processor 1060 of MCS 1051 are preferably simpler than microprocessor 1022 and receiver 1021 of the embodiment of FIG. 2A. It should be noted that this embodiment is recoverable for all routes after any length of communication interruption. A small local file of the PTU 1050 can be added to visually "fill" the display after an interruption (which would otherwise appear as a gap in the display).
[0022]
In operation, the PTU iteratively determines the distance traveled and direction based on the accelerometer and gyroscope (eg, as fast as possible given the speed of the PTU microprocessor). Generally, location information is written out to the GDF 1007, transmitted to the MCS, and the process is repeated. The set of location information is essentially the path of the person wearing the PTU. Such a collection of location information preferably occurs in the MCS. In some embodiments, the PTU collects location data and, at predetermined intervals or upon receiving a request from the MCS, or upon a manual signal from the wearer, for example, believes that the wearer is in a particularly dangerous area. If so, send it to the MCS.
[0023]
The PTU and MCS may include a programmed general purpose computer.
[0024]
Check-in procedure
A typical operation of the above-described embodiment includes a check-in procedure. The purpose of the check-in process is to provide the MCS with a known starting or reference point and direction. The path of the person 25 wearing the PTU is "stored" against this reference point to provide real-time tracking. The real-time position of the tracked person or object is then calculated by accumulating route information from the starting point. Not only must the starting position be known, but also the orientation of the unit containing the gyroscope and accelerometer elements. This association of the starting position and the heading direction with the tracked object is known as check-in. For example, for firefighter applications, fully automated technology is desirable.
[0025]
Hereinafter, three exemplary check-in procedures will be described with reference to FIGS. 3A, 3B and 4A-C. FIG. 3A illustrates a manual embodiment involving a tracked person walking to a check-in station 1100 rigidly, preferably physically, attached to the structure of the MCS 1100. The MCS 1100 has one or more check-in stations 1101 attached to a plurality of persons 25. The check-in station 1101 has a cradle or depression 1102 for receiving a cane 1104 to which a cable 1103 is attached. Person 1106 with attached PTU 1105 simply picks up cane 1104 from cradle 1102 and inserts the housing of PTU 1105 into recess 1107 for a while. The relationship between the recess 1107 and the housing 1105 is such that if it fits in one direction and is properly installed, a voltage is applied to the two-way transfer. Since the check-in station 1101 is at a known position and orientation with respect to the MCS 1100, if the wand 1104 has an embedded inertial tracking subsystem (similar to that in the PTU), its position is always known to the MCS 1100. is there. Data is transferred when attached to the PTU 1105, which occupies the same position and orientation that is relayed to the MCS 1100 and / or PTU 1105, if necessary. The identity of the person is also transferred to the MCS 1100 at this time. By returning the cane 1104 to the cradle 1102 after each check-in procedure, its home position is reset, avoiding errors accumulated at the start position. Multiple check-in stations 1101 can be attached to the MCS 1100 to facilitate simultaneous check-in for persons. The system is more suitable for small teams with distinct missions, such as police swat teams and rescue missions. Firefighters are less tolerant of any procedures that would conflict with normal activities in a fire place.
[0026]
An alternative check-in embodiment is shown in FIG. 3B. This embodiment utilizes an electronic compass 1152 integrated with the PTU 1150 (including the tracking subsystem 1153) and a GPS receiver 1151. Performance depends on the availability of a suitable GPS signal in the MCS (eg, outdoors) before the person 25 enters the building. Since GPS does not provide direction information, a compass 1152 or other device is used. The latter may be a technique similar to palm navigation 1.0 of precision navigation using a magnetic sensor. This achieves automatic check-in and the person 25 does not need to take any overt action, but as the compass 1152 provides, it has limited directional accuracy due to local magnetic field fluctuations.
[0027]
Another alternative check-in embodiment is triangulation, which is described with reference to FIGS. 4A-C. Such embodiments use multiple (eg, a few) transceivers and “time-of-flight” calculations in the MCS 1071 mounted on a mobile platform 1070 (such as an emergency vehicle). As shown in FIG. 4A, two separate outdoor position measurements A and B are associated or coordinated with the main “origin” 1075 and the main “direction” 1076 of the MCS 1071 at two different moments (eg, one second apart). ) Is taken out from each PTU. In the present embodiment, the MCS 1071 is integrated with the emergency truck. The track includes three or more transceivers 1072, 1073, 1074 to triangulate the two point fixed A and B as shown. Alternatively, the transceivers 1072, 1073, 1074 could be replaced with a laser rangefinder or other device capable of distinguishing A and B. Once the position measurements A and B are obtained, the MCS 1071 continues to adjust the distance and direction between the person 25 and the PTU.
[0028]
FIG. 4B shows a top view of an "update" procedure for obtaining the initial bearing by a software routine preferably executed in MCS 1071. The accumulation paths 1081 of the first and second position measurement times are recorded as if they were obtained from the main direction 1076. In other words, the vector 1082 is theoretically drawn in the direction of the main direction from point A to its end point at point C. This vector 1082 must be the same length as the vector 1080, which is the real vector between points A and B, but shows the wrong direction in three-dimensional space, instead of being the direction actually moved. It is positioned to be in the initial direction of the reference main direction 1076. Although the angle of change 1083 between the vectors 1082 and 1080 is shown as a single angle, the change may exist in each of the three dimensions. Thus, the algorithm computes three previously unknown angles that, when combined, give the initial direction. Note that this check-in is performed without the use of GPS or a compass and the process is completely transparent to the user.
[0029]
Hereinafter, the triangulation check-in process will be summarized with reference to the flowchart of FIG. 4C. As shown, the process begins with the input of a PTU (electronic) ID to the MCS. In an alternative embodiment, the identification information is stored in the PTU, and the data is automatically sent to the MCS upon activation of the PTU. When such data is entered, personal identification information for the user is associated with each PTU. Step 1102. For example, upon receiving an emergency call, a fire department arrives at a fire place. Step 1104.
[0030]
The MCS is instructed to go through the check-in process for the first PTU by obtaining the first position measurement A. Step 1106. The PTU ID is commonly called PTU-n to indicate the nth PTU associated with the MCS. Each time the check-in process starts, the n counter is reset. The process continues by acquiring a second position measurement B for the same PTU-n. As described above, the software at the MCS continues by performing a route update for the person wearing the PTU-n, thereby determining the direction of the PTU-n. Step 1110.
[0031]
Optionally, the check-in process confirms the direction adjusted for PTU-n and continues. More specifically, the MCS obtains a third position measurement C by triangulation. Step 1112. The MCS compares the third position measurement C determined using triangulation with the position of PTU-n determined using dead reckoning. Step 1114. The MCS software then determines whether the difference in the two position readings for position C is within the allowed intersection. Step 1116.
[0032]
If the reading difference is not acceptable, the MCS indicates a failure, for example, the MCS and / or PTU-n LED (step 1118), and the check-in process is repeated for PTU-n (see step 1106 et seq.). If the difference between the two readings is within the allowable intersection, the MCS continues by activating a successful check-in display, eg, MCS and / or PTU-n LED (step 1120), and the MCS is checked by all PTUs. It is determined whether or not the input has been performed (step 1122). Otherwise, the MCS increments the counter-n (step 1124), and repeats the check-in process for the next PTU (see step 1106 and thereafter).
[0033]
If all PTUs have been checked in, the check-in process is considered complete (step 1126) and the system continues to monitor the location of each TPU. However, it should be noted that the system tracks the location of the PTU immediately after each PTU is checked in and does not wait for the PTU to be checked in.
[0034]
Message protocol
In an alternative embodiment, no electronic ID is used to identify each PTU. Instead, each PTU transmits location and sensor data at discrete frequencies. The MCS then includes a broadband or multi-channel receiver with various filters used to identify the frequency of interest and the associated PTU.
[0035]
Although the present invention has been described with reference to checking in and tracking a single person 25, it is understood that the present invention and embodiments may be suitable for checking in and tracking multiple persons. Should. In such an embodiment, each PTU is encoded with an electronic identifier (ID). The MCS is a memory such as a RAM that includes a database or table that associates each electronic ID with the person 25 and preferably with the person's personal identification information, such as name, emergency contact information, existing health status, sensor data received from the PTU, and the like. Is preferably contained. The database will also associate each PTU with a location history.
[0036]
More specifically, each PTU transmits location and, where applicable, sensor data in a predetermined format. Such a format includes a field for the PTU's electronic ID. Thus, when the MCS receives a packet of data, the MCS (and more specifically the software in it) extracts the electronic ID and updates the database, and if applicable, updates the VDT appropriately.
[0037]
Hereinafter, an exemplary message packet protocol will be described in more detail with reference to FIG. As shown, each message packet transmitted between the PTU and the MCS includes a number of fields, including a header field and an end field, each indicating a predetermined value and the start and end of the message packet. The message packet also includes a control 1 field that indicates the type of message sent by either the PTU or the MCS depending on the circumstances. For example, the value of the Control 1 field may indicate that the message contains data from the PTU. The PTU has detected an internal error or the data is bad. The PTU has detected an alarm condition or condition (eg, low battery) for a particular sensor. For a message sent by the MCS, the message is a command or a request for data. The Control 1 field may also indicate that it is a simple receipt of a PTU or MCS that has received the message from another.
[0038]
The data length 1 field indicates the length of the data 1 field. CRC is used to detect errors in messages and applies any known technique such as checksum.
[0039]
The PTU ID indicates the ID of the PTU transmitting the packet or, if the packet is transmitted by the MCS, the ID of the PTU transmitting the packet. Each PTU is programmed with its own ID so that upon receiving a message from the MCS, the PTU ID field can be decoded to determine if the PTU is the intended recipient. As mentioned above, some embodiments do not use a PTU ID, but instead transmit on a different frequency or a different other signal or modulation characteristic message. In such an embodiment, a PTU ID field is required. It should be understood that if the PTUs communicate via RF transmissions, each PTU will preferably transmit on a different frequency, thereby minimizing interference between transmissions, and thereby distinguishing between different PTU transmissions. .
[0040]
As shown, the Data 1 field contains a specific type of data provided by the PTU (eg, temperature, position / distance, carbon monoxide, error, etc.), a type of data provided by the MCS (eg, a specific command). Or a sub-level field, including a control 2 field for displaying a request or the like. The data length 2 field indicates the length of the data 2 field including actual data relating to the control 1 and control 2 fields, for example, actual sensor data, alarm display and sensor data, actual commands (eg, beacon on / off), and the like. indicate. The second level protocol can include multiple control and data fields, eg, one for distance / position, and one or more for sensor data.
[0041]
MCS display
As described above, the MCS preferably includes a VDT that indicates the location and / or route of each person (eg, a firefighter) 25. Such a display may simultaneously display all persons 25 in a particular group, such as all firefighters of a particular company, or one person 25 at a time. Further, the display may show only the current location of each person 25 or may show the path of each person 25 at a given time. When multiple persons 25 are simultaneously displayed on the display, each graphical display is distinguished from others by a visible cue, such as a PTU ID number, the person's name or other identifying information (eg, as stored in the MCS). You.
[0042]
Preferably, the MCS stores in memory a three-dimensional digital floor plan of the building into which the firefighters enter, and the floor plan is available to graphically overlay the information-generating images of the individual firefighters. Graphic images can be interactively enhanced as touch screens provide.
[0043]
Without an existing 3D floor plan, the MCS would optically capture a building facade image in a fire and then use software to infer a 3D view of indoor structural features and provide a functionally valuable advisory level May be graphically displayed as a tool for real-time firefighter location mapping required by other firefighters in a fire place (and / or via the Internet) with the details / accuracy of a firefighter. Inferred structural features may include floor or corridor locations, indoor stair locations (eg, window locations), as well as potential plumbing through rooftop water towers. Other necessary information, for example, the depth of the building (ie, the third dimension) can be input by a graphic display keypad. Alternatively, all three dimensions, height (eg, floor), width (eg, unit of length, number of windows, etc.), and depth (eg, unit of length, number of windows, etc.). Indications of other enclosed spaces, such as valleys, tunnels, etc., may be similarly configured based on user input, location data and / or route data.
[0044]
Further, data from sensors carried by firefighters can be combined with location data and used to map real-time conditions within a building in the same manner. Based on such conditions, the user of the MCS (eg, a fire chief) may send a firefighter to the beacon to indicate such conditions, request a firefighter to return to the MCS, or take other action. A command could be issued to signal to other or other communications.
[0045]
In some embodiments, the display is a touch screen, where the controlling user simply touches the display of a particular PTU / person 25 to retrieve information from the database, send commands to the person 25, and send a command to the PTU / person 25, etc. Enables to generate data transmission requests. In some embodiments, touching the path or location of the PTU highlights that PTU's path to facilitate referencing it. The second touch removes the emphasis.
[0046]
It should be understood that the information contained and / or displayed in the MCS can be further transmitted to other remote locations for analysis and / or display. In such embodiments, the information can be relayed by the MCS or transmitted directly from the PTU via any available communication network, such as a cellular network, the Internet, a wireless local area network, a wired network, etc. It is possible. Such remote availability of data could be used for management oversight, training, supervision, or any purpose enabled thereby.
[0047]
Those skilled in the art will recognize that the methods and systems of the present invention have many uses, can be implemented in many ways, and are not limited by the exemplary embodiments and examples described above. Furthermore, the scope of the present invention covers conventionally known and later-developed variations and modifications to the system components described herein, as will be appreciated by those skilled in the art.
[Brief description of the drawings]
FIG. 1 is a general schematic external view of a system according to one embodiment of the present invention.
FIG. 2A is a schematic diagram of a master control station and a personal tracking unit according to one embodiment of the present invention.
FIG. 2B is a schematic diagram of a master control station and a personal tracking unit according to one embodiment of the present invention.
FIG. 3A is a schematic diagram of a check-in component of an alternative embodiment of the present invention.
FIG. 3B is a schematic diagram of a check-in component of an alternative embodiment of the present invention.
FIG. 4A is a top view of an embodiment of the present invention that uses an automatic check-in process.
FIG. 4B is a schematic diagram illustrating an update logic process of one embodiment according to the present invention.
FIG. 4C is a flowchart of a check-in process.
FIG. 5 is a schematic diagram of a message protocol of one embodiment according to the present invention.

Claims (16)

A system for tracking people or objects,
One or more tracking units, each associated with a person or object, having one or more accelerometers and gyroscopes;
A master control station (MCS) including a display for displaying the position of at least one said tracking unit, said MCS comprising:
Determining a reference point and a bearing for the at least one tracking unit;
Data from the accelerometer and gyroscope, giving distance and direction information,
A set of the distance and direction information,
The system is programmed to determine the location based on The system of claim 1, wherein the MCS displays the location and path of the at least one tracking unit for a period of time. 2. The MCS of claim 1, wherein the MCS simultaneously displays the locations of a plurality of tracking units, wherein each of the displayed locations includes an indication of the person or object associated with the associated tracking unit. system. The system of claim 1, wherein the MCS is programmed to determine the reference point and direction by manually positioning the tracking unit at a known direction and a known location. The system of claim 1, wherein the MCS is programmed to determine the reference point and bearing by using a GPS and a compass. The MCS includes a main direction, triangulates a plurality of positions of the tracking unit, and updates a vector directed to the main direction to the plurality of positions based on the plurality of positions. The system of claim 1, wherein the system is programmed to determine points and directions. The system of claim 1, wherein the tracking unit includes one or more sensors that collect sensor data and generate an alert condition based on the collected sensor data. The system of claim 7, wherein the MCS displays sensor data with location. The system of claim 1, wherein the MCS is coupled to an emergency vehicle, and the tracking unit is worn by rescue personnel. A system for tracking a person or an object in an enclosed space,
Associating each of the plurality of tracking units with the person or object being tracked;
Setting a reference position and a reference direction for the tracking unit based on the main reference position and the main reference direction;
It repeatedly obtains data representing the distance traveled by each tracking unit,
It repeatedly obtains data representing the direction in which each tracking unit moves,
Determining a position of the tracking unit based on the data representing a distance and the data representing a bearing;
Providing an indication of the location of each tracking unit. The MCS has a main direction, and the reference position and the direction are set as follows:
Determining a first position measurement;
Determining a second position measurement;
The method of claim 10, including updating a path having a distance defined by the first and second position measurements to the position measurement along the main direction. The method of claim 11, wherein the position measurement determination is based on triangulation. The method of claim 10, further comprising configuring an indication of the enclosed space based on the location of each tracking unit. 14. The method of claim 13, wherein the enclosed space is a building, and wherein configuring the display of the building includes identifying floors of the building. The method of claim 14, wherein the enclosed space is a building and the configuration of the building representation includes identifying a stairwell of the building. The method of claim 15, wherein indicating the position of each tracking unit comprises providing the indication for the indication of the building.

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