KR20040018308A - Personnel and resource tracking method and system for enclosed spaces - Google Patents

Abstract

The present invention discloses a system for tracking a person 25 or thing. One or more tracking devices 100 are associated with a person or thing to be tracked. Each tracking device includes one or more accelerometers and one or more gyroscopes to provide distance and course or direction information. The main control office MCS 200 receives the distance and the career information or the location information based on the distance. MCS 200 may also be a display that displays the location of at least one tracking device. The MCS is programmed to determine a reference point and a course of the at least one tracking device, and to determine a location based on data from accelerometers and gyroscopes providing distance and direction information, and a collection of distance and direction information.

Description

PERSONNEL AND RESOURCE TRACKING METHOD AND SYSTEM FOR ENCLOSED SPACES}

In general, the present invention relates to an inertial personnel tracking system that can be used in confined spaces, such as inside a building and underground.

There are a variety of systems that determine and track the location of people and things. Such systems typically rely on the current global positioning system (GPS), which consists of 24 satellites each transmitting radio signals. In general, the position of the GPS receiver is determined by trilateration or, more generally, by serious surveying. The GPS receiver measures the distance between the GPS receiver and three (or more) individual satellites based on the travel time of the radio signal from the satellite to the GPS receiver. Each satellite and corresponding distance define a range of possible locations, and the intersection of three ranges is defined by two to three satellites. One of the two points is generally rejected as an impossible position of the GPS receiver and the other point remains as the position of the GPS receiver.

However, there are several disadvantages to this GPS system. In particular, GPS systems require the GPS receiver to receive GPS radio signals from a plurality of satellites. Thus, the GPS system will not operate in places where the GPS receiver cannot receive GPS signals. This drawback hinders the use of the GPS system in buildings, tunnels, high altitude metro areas and other confined spaces. Therefore, there is a need for an improved positioning and tracking system, particularly a system for determining and tracking the location of people and objects in confined spaces.

This application claims the benefit of US Provisional Application No. 60 / 252,599, filed November 22, 2000, which is incorporated by reference in its entirety.

1 is an overall schematic diagram of a system in accordance with an embodiment of the present invention.

Figure 2a is a schematic diagram of the control station and personnel tracking device according to an embodiment of the present invention.

Figure 2b is a schematic diagram of the control station and personnel tracking device according to another embodiment of the present invention.

3A and 3B are schematic views of check-in components in accordance with an alternative embodiment of the present invention.

4A is a plan view of one embodiment of the present invention using an automatic check-in procedure.

4B is a schematic diagram illustrating a logic procedure of back-fitting in accordance with one embodiment of the present invention.

4C is a flow chart of a check in procedure.

5 is a schematic diagram of a message protocol according to an embodiment of the present invention;

Methods and systems for certain embodiments of the present invention meet the above and other needs. One or more tracking devices are associated with the person or thing to be tracked. Each tracking device is equipped with one or more accelerometers and one or more gyroscopes to provide distance and course or direction information. A master control station (MCS) receives a distance and career information or direction information based on the distance. The MCS may also be a display that displays the location of at least one tracking device. The MCS is a program for determining the position based on the determination of the reference point and the path of at least one tracking device, the data generated from the accelerometer and gyroscope providing distance and direction information, and the collection of distance and direction information. do.

Inertial tracking methods and systems, also known as dead reckoning, are provided to clarify the limitations of GPS and triangulation when tracking and obtaining accurate and reliable three-dimensional personnel within confined spaces. do. Embodiments of the present invention are particularly applicable to shielding areas such as underground, in buildings, and between large buildings. As can be appreciated, the system is robust enough to continue to function even if there is intermittent dropout or interference of short radio frequency (RF) light. In areas where transmission is difficult, powerful hand-held along the road to mediate personal tracking units (PTUs) that carry or carry tracked objects and MCSs that record and / or display data from PTUs. A relay station is installed to amplify RF signals and maintain bidirectional communication between the PTU and the MCS.

In general, embodiments of the present invention provide data used by a processor to accumulate and calculate one path in real time, using a gyroscope and accelerometer positioned together. Embodiments of the present invention provide a highly reliable method of providing "check in", i.e., the starting point and setting of an initial path with respect to known criteria, such as points or directions near or at the MCS. Obviously other exemplary methods of check in are disclosed herein.

While the three-axis accelerometer is part of the PTU of the inertial tracking system of one embodiment, the present invention utilizes the same (or other) three-axis accelerometer to provide vibration signals to the neural network of U.S. Patent 5,652,570, registered by Lepkofker. It is contemplated to derive an analysis of the motor state of an individual, which is incorporated herein by reference. Such athletic events, such as walking, elevator rides, up and down stairs and running, can be distinguished without detailed route analysis. The same (or other) accelerometer is also used in certain embodiments to detect falling (high initial acceleration), shock (sharp pulse), stop of the timeout period ("man down") and provided from the biosensor Combined with other alarm signals to alert the MCS and turn on attached PTU beacon devices such as flash bulbs, large audio "chirper", vibration alarms, electronic beacon signals and other detectable beacon signals. Help the high-speed positioning of the mobile in a confined space or alert the mobile in a particular state.

The display of personnel tracked in the MCS in one building can be facilitated by a digitized building floor plan that can be used to display building features as well as three-dimensional paths. If a building floor plan is not available, the location data is displayed in the MCS in any number of ways, for example, by estimating the building structure and displaying it along the personnel aisle information generated by the movement of personnel through the building structure. For example, it is assumed that the horizontal movement is on the floor, while climbing the stairs is located on the stairs at a specific location, which is handled by the display software residing in the MCS. In an alternative embodiment, the PTU may include an interface device such as a push button coupled to a processor that signals the structural features of the individual.

Although the present embodiments are directed to determining and tracking the location of a person such as a firefighter, the present invention is applicable to determining and tracking the location of animals and objects, such as trains, trucks, subways, transport containers, and the like.

summary

Specific embodiments of the present invention will be described in more detail with reference to the above drawings, wherein like reference numerals refer to like elements. The schematic diagram of FIG. 1 provides an overview of the components of one embodiment of the invention and the components that are related to each other. In general, the system of this embodiment uses a gyroscope and an accelerometer to calculate the position of a person 25, such as a firefighter, in a confined space, for example, a building or underground space where GPS radio signals are not available. It is to be understood that the embodiments shown in FIG. 1 are for illustrative purposes only and should not be considered in a limiting sense.

As will be described in detail later, person 25 carries a personal tracking device (PTU) 100 that collects data used to calculate the location of this person 25. In this embodiment, the PTU 100 also collects personal sensor data and ambient sensor data. The PTU 100 transmits this data to any control station 200 (MCS) via any conventional wireless communication system, which is described in detail later. These systems could potentially take advantage of wireless data communication solutions available from a number of different service providers. Types of interfaces of wireless data communication that may be used include cellular digital packet data (CDPD), global mobile communication system (GSM) digital, code division multiple access (CDMA), and "G" cellular telephone standards. Digital data transfer protocols associated with any of (e.g., 2.5G or 3G). In the present embodiment, the system uses CDPD as a communication technique, and uses a user datagram protocol (UDP) having an Internet protocol (IP) as a transmission protocol, even if another protocol such as TCP is used. In alternative embodiments, RF, two-way pager or wireless local area network communication is used.

The system optionally includes one or more signal relay stations 40 which function as relays or repeaters to receive, amplify and retransmit transmissions between the PTU 100 and the MCS 200. Such relay station 40 may be pre-installed or arranged, for example, at the time of use by a firefighter.

Two other embodiments of the route calculation method will be described later. These two embodiments include the use of a three-axis rate gyroscope, such as a silicon vibration structure gyroscope model CRS-03 manufactured by Silicon Sensing System, Japan, and also a model manufactured by Motorola Semiconductor, Phoenix, Arizona, USA. The use of co-located three-axis accelerometers such as the MMA1220D. These devices are preferably included in the PTU 100 carried by the person or object to be monitored. Alternatively, liquid-filled miniature tilt sensors, such as those provided by Nanotron, can be used as accelerometers and rate gyroscopes. In another embodiment, three single axis orthogonal accelerometers may be used instead of the three axis accelerometer. The offset from the MCS to the front of the building is determined using a laser or ultrasonic rangefinder.

Typical PTU and MCS

2A is a schematic diagram of a PTU 1000 and an MCS 1001 according to an embodiment of the present invention, where the PTU 1000 collects accelerometer and gyroscope original data and transmits the data to the MCS 1001. do. The MCS 1001 then uses that data to calculate the location of the person 25. In particular, readings from the 3-axis accelerometer 1001 and the 3-axis gyroscope 1006 are provided to the microprocessor and associated memory 1009, which both time stamp the reads and at the same time memory such as random access memory (RAM). In the gap data file 1007. PTU 1000 preferably includes a local clock or other clock (not shown), such as a crystal oscillator. The PTU preferably includes a beacon signal generator that generates a detectable alert signal and / or beacon signal as described above. This beacon 1013 may be operated by the user of the MCS 1001, automatically by the PTU 1000, or manually by the person 25 carrying the PTU 1000. The microprocessor 1009 also sends the data from the antenna 1010 to the receive antenna 1020 of the MCS 1001 via the transmitter 1008.

The microprocessor 1022 of the MCS 1001 executes path algorithm (PA) software routines of all the PTUs 1000 associated with the MCS 1001. More specifically, the MCS 1001 provides a single consolidation of the rate gyroscope 1006 data (from the receiver 1021) and a dual consolidation of the three-axis accelerometer 1005 data (receiver 1021) for the course (or direction). Run the software routine to determine the distance and ultimately the PTU location and / or path.

MCS 1001 is also programmed to produce a display at video display terminal (VDT) 1023. The PTU 1000 preferably overwrites the oldest data with the most recent data consecutively, so that the file 1007 contains a copy of the data collected over a predetermined period of time, for example, one second or more. This data is valuable when recovering from simple communication interruptions. Bandwidth 1011 should be sufficient to sustain transmission of "gap data" as well as current data during the period of restoring short interruptions. Long interruptions beyond that stored data depth will result in an unrecoverable elapsed time when providing a path to track another PTU.

MCS 1001 also includes keypads, keywords, and such interface devices through which users of the system can enter data and commands.

In addition, the PTU 1000 preferably includes one or more sensors 1012 coupled to the microprocessor 1009 to monitor biological or ambient conditions. Sensors monitor heart rate, body temperature, brain activity, blood pressure, blood flow rate, muscle activity, respiratory rate, blood oxygen, etc., and monitor temperature, humidity, exercise, speed, carbon non-oxide concentrations, and certain chemicals. It includes a sensor. Certain sensors are also used, such as an inertial device based fall detector (eg, a detector using one or more accelerometers) provided by an analog device under the trade name ADXL202. Other typical sensors include a pulse rate sensor of model number ALS-230 manufactured by Sensor Net, and a temperature sensor (type NTC) of model number WM303 or model number SP43A manufactured by Sensor Scientific. Pulse rate sensors of model number ALS-230 are available from Sensor Net, and infrared light sensors are available from Probe.

Preferably this sensor data is analyzed by microprocessor 1009 to determine whether the sensor data exceeds a preset threshold stored in local memory. When the threshold is exceeded, a message is generated to alert the user of the condition and the message is sent. Preferably, the sensor data is also sent to the MCS 1001 to alert and control the user. In certain embodiments, beacon 1013 is activated by an alarm condition, such as excessive ambient heat or carbon dioxide.

An alternative embodiment of the present invention will be described later with reference to FIG. 2B. This embodiment includes a PTU 1050 and an MCS 1051, which locally perform a path calculation using a microprocessor 1055 that executes a path algorithm (PA) software routine. In a particular embodiment, the microprocessor 1055 consumes more power than the microprocessor 1009 of FIG. 2A, but some potential power savings in the transmitter 1056 transfer from the transmit antenna 1057 to the antenna 1062. This can be realized because it is narrower than the band link of FIG. 2A, and this narrow band link is possible because it transmits only the resolved location information and updates the applicable display in a suitable period of time for providing a location. Conversely, receiver 1061 and processor 1060 of MCS 1051 are preferably less sophisticated than microprocessor 1022 and receiver 1021 of the embodiment of FIG. 2A. Note that this embodiment allows the total path to be recovered after a certain length of communication interruption. Small local files in the PTU 1050 can be added to visually "fill-in" the display after the interruption (or otherwise show as a gap on the display).

In operation, the PTU iteratively determines the direction and distance to be moved based on the accelerometer and gyroscope (at a higher speed than the speed of the PTU microprocessor). In general, the location information is recorded in the GDF 1007 and sent to the MCS, and this process is repeated. The collection of location information inevitably is the path of the person carrying the PTU. This collection of location information preferably occurs in the MCS. In a particular embodiment, the PTU collects location data and, upon a predetermined period of time, upon receiving a request from the MCS, or upon manual signaling from the user, for example when the user believes the area is a particularly dangerous area. Is sent to the MCS.

PTUs and MCSs may include programmed general purpose computers.

Check-in Procedure

Typical operations of the foregoing embodiments include check-in procedures. The purpose of the check-in procedure is to provide a known initiation or reference point and career direction for the MCS, and the path of the person carrying PTU 25 is accumulated for this reference point to provide in real time tracking. Thereafter, the real-time location of the individual or object to be tracked is calculated by accumulating the route information from its starting point. The course of the device including the gyroscope and accelerometer components as well as their starting position should be known. The relationship between the tracked object and the starting position and the direction of travel is known as check-in. This can be done in a manual or automatic way. For application to firefighters, for example, fully automated technology is required.

Three typical check-in procedures will be described later with reference to FIGS. 3A, 3B, and 4A-C. 3A includes a manual embodiment that includes tracking a person walking through a check-in station 1101 that is physically attached to the structure of the MCS 1100 in a rigorous manner. MCS 1100 may attach one or more check-in stations 1101 to the MCS for a plurality of people 25. The check-in station 1101 has a cavity 1102 or pedestal for receiving a wand 1104 to which the cable 1103 is attached. The person 1106 attaching the PTU 1105 simply picks up the wand 1104 from its pedestal 1102 and wraps the body of the PTU 1105 instantaneously in the cavity 1107. The relationship between the cavity 1107 and the body 1105 is fixed in only one direction and allows energy to be applied for bidirectional delivery only when properly seated. Since the check-in station 1101 is in a known position and orientation with respect to the MCS 1100, if the wand 1104 has a built-in inertial tracking assistance system (similar to an inertial tracking assistance system in the PTU), its location is always Known to MCS 1100. In the case of transmitting data when attached to the PTU 1105, the data occupies the same position and direction relayed to the MCS 1100 and / or the PTU 1105 as needed, and personnel identification is also present at this moment. 1100). After each check-in procedure, by placing the wand 1104 back on the pedestal 1102, its home position is reset, so that errors accumulated at the starting position can be avoided. A plurality of check-in stations 1101 may be attached to the MCS 1100 to facilitate personnel check-in at the same time. The system is more compatible between teams such as police SWAT teams or rescue teams and a few crew members. Firefighters are not tolerant of any procedure that would interfere with their normal activities at the fire site.

An alternative check in embodiment is shown in FIG. 3B. This embodiment uses a GPS receiver 1151 and an electronic compass 1152 that are integrally formed with the PTU 1150 (including the tracking assistance system 1153). The performance depends on the ability of the person 25 to use the GPS signal suitably at the MCS (eg, outside) before entering the building. Since GPS does not provide career information, a compass 1152 or other device is used. The latter could be similar to Precision Navigator's Palm Navigator 1.0 using magnetic sensors. This eliminates the need for the person 25 to take an explicit action by performing an automatic check-in operation, but there is a limit to the course accuracy provided by the compass 1152 in response to local magnetic field changes. In addition, the GPS 1151 may not always depend upon reception in the outer canyons of large cities where large buildings are many.

Another alternative check-in embodiment is a triangulation technique, which will be described with reference to FIGS. 4A-C. This embodiment utilizes a “flight time” calculation in the MCS 1070 that is mounted on a plurality of (two or three) transceivers and a mobile phone platform (such as an emergency vehicle). As shown in FIG. 4A, each of the two external position fixing points A and B is provided with respective PTUs at two different distances (eg, approximately one second distance), and the MCS is placed on the MCS 1071. In relation to or coordinate with the main "origin" (1075) and the main "career direction" (1076). In this embodiment, the MCS 1071 is formed integrally with the emergency truck. The truck includes three or more transceivers 1072, 1073, 1074 for triangulating the two positioned fixation points (A, B) shown. Alternatively, the transceivers 1072, 1073, 1074 may be replaced with a laser range finder or other device capable of identifying A and B. When the position fixation points A and B are taken, the MCS 1071 starts to adjust the distance and direction of the person 25 and the PTU.

4B is a top view of the “backfitting” procedure to obtain the original course direction by a software routine that is suitably executed in the MCS 1071. The cumulative path 1081 between this first and second position fixation times is recorded as derived from the main path direction 1076. That is, the vector 1082 is theoretically drawn from the point A in the main path direction to the end of the point C. This vector 1082 should be a vector 1080, i.e., the actual vector between point A and point B, but points in the wrong direction in three-dimensional space, and instead of the actual direction of movement, the vector is the reference Each initial direction of the furnace direction 1076 is positioned. The angle change 1083 between the vector 1082 and the vector 1080 is shown as a declination, but the changes may each be three-dimensional. Thus, the algorithm calculates three previously unknown angles when providing the initial course direction. Note that this check-in is performed without GPS or compass, and the procedure is entirely clear to the user.

The triangulation check in process will then be summarized with reference to the flowchart of FIG. 4C. As shown herein, the process begins with entering a PTU (electronic) ID into the MCS. In an alternative embodiment, the identification information is stored in the PTU, and when the PTU is powered up, the data is automatically sent to the MCS. Once that data is entered, personally identifiable information about the user is associated with each PTU (step 1102). For example, upon receiving an emergency call, the fire department arrives at the fire location (step 1104).

The MCS initiates a check-in process of the first PTU by receiving a command to obtain a first location fix point A (step 1106). The PTD ID is generally called PTU-n and indicates the nth PTU combined with the MCS. Each time you start the check-in process, the n counter is reset. This process continues to obtain a second position fixation point B for the same PTU-n. As noted earlier, the software residing in the MCS continuously performs backfitting on the path of the PTU-n carried by the human being, thereby determining the path direction of the PTU-n (step 110).

Optionally continue the check-in process to confirm the coordinated career direction of the PTU-n. More specifically, the MCS obtains the third position fixed point C by triangulation (step 1112). The MCS compares the position of the PTU-n determined using the dead reckoning and the third position fixed point C determined using the triangulation method. Thereafter, the MCS software determines whether the difference in reading the two positions with respect to position C is within an acceptable range (step 1116).

If the difference in readings cannot be accepted, the MCS indicates a failure, for example with an LED at the MCS and / or PTU-n, and the check-in process is repeated for PTU-n (step 1106). If the two reading differences are within an acceptable range, the MCS continuously operates the LEDs at the check-in indicator, eg MCS and / or PTU-n (step 1120), and the MCS determines whether all PTUs have been checked in. (Step 1122). If the two reading differences are not within an acceptable range, the MCS increments counter-n (step 1124) and repeats the check-in process of the next PTU (step 1106).

Once all the PTUs have been checked in, the check-in process is considered to have ended (step 1126) and the system proceeds to monitor the location of each PTU. However, after checking each PTU, it should be noted that the system immediately tracks the location of the PTU and does not wait for all PTUs to be checked in.

Message protocol

In an alternative embodiment, the electronic ID is not used to identify each PTU. Instead, each PTU transmits position and sensor data at discrete frequencies. The MCS in turn comprises a multi-channel receiver or a wideband receiver, which have various filters used to identify the frequency of the received data and the associated PTU.

Although the present invention is further described with reference to check-in and tracking of one person 25, it should be understood that the present invention is suitable for checking in and tracking a plurality of people. In this embodiment, each PTU is coded with an electronic identifier (ID). The MCS is preferably a memory, e.g., a database or table that associates each electronic ID with person 25, and includes a name, emergency access information, previous health status, sensor data received from the PTU, and the like. And a RAM containing identification information. The database will also combine each PTU with a location history.

More specifically, each PTU transmits its location and available sensor data in a predetermined format. This format contains a field of the electronic ID of the PTU. Thus, when the MCS receives a data packet, the MCS (more specifically, the software residing there) extracts the electronic ID, preferably updating the database and the available VDT.

One typical message protocol will be described in greater detail later with reference to FIG. 5. As shown, each message packet transmitted between the PTU and the MCS contains a predetermined value and includes several fields, including a header field and an end field indicating the beginning and end of the message packet. This message packet also includes a Control 1 field indicating the type of message sent by either the PTU or the MCS. For example, the value of the Control 1 field may indicate that the message contains data provided from the PTU, the PTU detected an internal bad or data bad, and also detected an alarm condition or condition (eg, low battery) of a particular sensor. . In the case of a message sent by an MCS, the message is a request for command or data. This Control 1 field also indicates the acknowledgment of the PTU or MCS that received the message from another.

The data length 1 field indicates the length of the data 1 field. CRCs are used to detect errors in messages and apply known techniques such as checksums.

The PTU ID includes the ID of the PTU which transmits the packet, or the ID of the PTU in which the packet is transmitted when the packet is transmitted by the MCS. Each PTU is programmed with its own ID, so that upon receiving one message from the MCS, each PTU may decode the PTU ID to determine whether the PTU is a recipient of that purpose. As noted above, certain embodiments do not use a PTU ID, but instead send a message at a different frequency or other signal or modulation characteristic. This embodiment requires a PTU ID. If a PTU transmits via RF transmission, it should be understood that each PTU preferably transmits at a different frequency, thereby minimizing interference between transmissions and distinguishing between transmissions of different PTUs.

As shown, the Data 1 field may include an auxiliary level of a field that includes a Control 2 field indicating a particular type of data (eg, temperature, location / distance, carbon dioxide, failure, etc.) provided by the PTU, The type of this data (eg, specific command or request, etc.) is provided by the MCS. The data length 2 field is the actual data included in the Control 1 and Control 2 fields, e.g., the data 2 field including the actual sensor data, alarm indication and sensor data, actual commands (e.g., beacon turn on or turn off), and the like. Display the length. The second level of this protocol includes a plurality of control and data fields, such as fields of distance / position and one or more sensor data.

MCS display

As noted above, the MCS preferably includes a VDT that displays the location and / or route of each person (eg, firefighter) 25. This display can be shown simultaneously to all people 25 in a particular group, for example all firefighters of a particular company, or to one person at a time. In addition, the display may indicate only the current location of each person 25 or may represent each person's path over a predetermined time. When presenting a plurality of people 25 on the display at a time, each graphical representation is a visual cue, for example a PTU ID number, a person's name or other identifying information (such as stored in an MCS). To distinguish it from others.

Preferably, the MCS stores in the memory a three-dimensional digital floor plan of the building in which the firefighter enters, which floor plan can be used to graphically overlay the information-bearing image of each firefighter. This graphical image can be improved by the interaction provided by the touch screen.

If an existing three-dimensional floor plan is required, the MCS selectively acquires the exterior image of the building at the fire location and infers the features of the internal structure into a three-dimensional view at the advisory level, detailed / accurately functional, by the software from the exterior. Thereby graphically (and / or via the Internet) a fire location as a tool for real-time firefighter location mapping that needs to extinguish another fire. Inferred structural features may include floor or porch location, indoor stairway location (eg, window pattern), even if potentially piped to the location of the highest water tower. Other necessary information, for example the depth of the building (ie three-dimensional), can be input by the keypad to generate a graphical representation. Alternatively, all three dimensions, height (eg, number of floors), width (eg, units of length, number of windows, etc.) and depth (eg, units of length, number of windows, etc.) are shown. Representations of other enclosed spaces, such as canyons, tunnels, etc. may be made based on user input, location data and / or route data.

In addition, data provided from sensors carried by firefighters can be combined with location data and used in the same way to map real-time conditions within a building. Based on this condition, the user of the MCS (e.g., a fire station) may issue a command to signal a beacon, or provide other communications to the firefighters to indicate such communications, or firefighters may request the MCS again or take other actions. You can issue a command.

In one embodiment, the display is such that the controlling user simply touches an indication of a particular PTU / person 25 to obtain information from the database, sends a command to the person 25, and sends a request for data to the PTU / person 25. It is a touch screen that can be sent to the back. In one embodiment, touching the path or location of a PTU makes the path of that PTU particularly bright so that it can be easily referenced. The second touch removes the bright portion.

It should be understood that the information included and displayed in the MCS may be sent to another remote location for analysis and / or display. In such embodiments, the information may be relayed by the MCS or transmitted directly from the PTU via available communication networks including, for example, cellular networks, the Internet, wireless local area networks, wired networks, and the like. The use of such data may be used for management monitoring, observation, training, control or for possible purposes.

Those skilled in the art will appreciate that the methods and systems of the present invention can be implemented in many ways and are not limited to the exemplary embodiments described above. Moreover, it will be understood that the scope of the present invention covers the prior art and may cover various modifications and variations of the system components disclosed herein.

Claims (16)

In a system for tracking people or things, One or more tracking devices associated with a person or thing and comprising one or more accelerometers and one or more gyroscopes, A display for displaying a position of at least one of the tracking devices, the determination of reference points and directions of the at least one tracking device, data provided from an accelerometer and gyroscope providing distance and direction information, and the distance and direction A control station (MCS) programmed to determine the location based on a collection of information. The system of claim 1, wherein the MCS displays the location and path of the at least one tracking device over time. The system of claim 1, wherein the MCS simultaneously displays the locations of a plurality of tracking devices, wherein each location displayed includes an indication of a person or thing associated with the associated tracking device. The system of claim 1, wherein the MCS is programmed to determine the reference point and the course by manually positioning the tracking device at a known location and a known course. The system of claim 1, wherein the MCS is programmed to determine the reference point and course using GPS and a compass. The apparatus of claim 1, wherein the MCS includes a master heading, triangulates a plurality of positions of the tracking device based on the plurality of positions, and heads to the plurality of positions along the main route. The system is programmed to determine the reference point and course by back-fitting a vector. The system of claim 1, wherein the tracking device includes one or more sensors that collect sensor data and generate an alarm condition based on the collected sensor data. 8. The system of claim 7, wherein the MCS displays an indication of sensor data having a location. The system of claim 1, wherein the MCS is integrally formed in an emergency vehicle and the tracking device is carried by an emergency person. In a method of tracking a person or an object in an airtight space, Associating each of the plurality of tracking devices with a person or thing to be tracked; Setting a reference position and a reference route of the tracking device based on the main reference position and the main reference route; Repeatedly acquiring data indicative of the distance each tracking device travels, Repeatedly acquiring data indicative of the course each tracking device travels, Determining a location of each tracking device based on the data representing the distance and the data representing the course; Providing an indication of the location of each tracking device. The method of claim 10, wherein the MCS has a main path, and the setting of the reference position and the path includes: Determine a first location fix point, Determine a second location fix point, And back-fitting a path having a distance defined by the first and second location fix points along the main path to the location fix points. 12. The method of claim 11, wherein determining the position fix point is based on triangulation. The method of claim 10 further comprising constructing a representation of the enclosed space based on the location of each tracking device. The method of claim 13, wherein the confined space is a building, and constructing a representation of the building comprises identifying a floor of the building. 15. The method of claim 14, wherein the enclosed space is a building, and constructing a representation of the building includes identifying a staircase of the building. The method of claim 15, wherein providing an indication of the location of each tracking device comprises providing an indication regarding the building representation.