sentrixtm personnel tracking · 2010-08-10 · body area network vital signs (monitoring and...
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SentrixTM Personnel TrackingTracking
Carol Teolis CTO and ChairmanCarol Teolis, CTO and [email protected]
12010 TRX Proprietary 1
Who is TRX?
F P i i f t t fFocus: Precise, infrastructure free, location and tracking
Products: SentrixTM Personnel Tracking System
Updates: Commercial system released• Safety & inspectionSafety & inspection
applications• Partner system
integration
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TRX Support and Experience
Technology Support Working Group (TWSG): First Responders (Fire &
Maryland Fire and Rescue Institute (MFRI):
First Responders (Fire & Police)
US Army:
First Responders (Fire)
National Geospatial US Army: Ground Soldier Training
Agency: Ground Soldier Tracking
DARPA:Ground Soldier & Mine Subterranean Tracking
National Science Foundation (NSF): First Responders
Department Of Homeland Security (DHS):First Responders (Fire &
Argon ST (DHS GLANSER) First Responders (Fire & Police)
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Police) Police)
Background: TRX SentrixTM SystemSmall sensor and
data radio worn by each first responder
Mesh network formed by data radios provides extended
coverage
SEAMLESSoutdoor to indoor
Monitors 3-D location and posture
Displays locations on remote command stationPatent pending tracking
algorithms limit error p y
Provides data replay for training purposes
Offers flexible third party sensor integration
algorithms limit error growth without requiring
fixed references
42010
Accurate position and tracking with no on-site setup; no pre-installed infrastructure
Major New System Development
Enhanced tracking Sentrix Inertial Engine accurately
classifies 8 user motionsclassifies 8 user motions Sentrix Navigation Engine intelligently
fuses information from multiple sensors to deliver an accurate pathto deliver an accurate path
New Command Station software Enhanced user interface simplifies use Modular architecture increases
robustness Open interfaces facilitate partner
integration Increased product hardening
Intrinsic Safety certification in process
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Sentrix Command Station
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Body Area Network Vital signs (monitoring and recovery)
Air supply remaining Gas sensors Gas sensors Radiation sensors Temperature exposure
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Truck Reports to House Fire
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atur
e (C
) On February 20, 2010, both the Truck and Squad reported to a house fire on 4508 Russell A en e The high temperat res seen in the
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20
40
60
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Tem
pera
Left Shoulder
Right Shoulder
Avenue. The high temperatures seen in the first few minutes were a result of having no engine on scene (firefighters had no water). An initial search and rescue was conducted on the structure. The fire had started outside and
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00 500 1000 1500
Time (s)
had advanced to a kitchen, then to an attic through the wall space. – Data courtesy of University of Maryland
Key IP: TRX Navigation Engine
Status Quo TRX Inference Based Navigation Engine
TRX Navigation Core
TRX Navigation algorithms use: inertial engine, compass, pressure, map, and ranging estimates and combineestimates - and combine
these with motion histories -to deliver accurate position
and tracking . Inertial infrastructure-freeinfrastructure free tracking systems
accumulate position error over time and distance
Flexible navigation core architecture and
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time and distance traveled. algorithms for
inference based tracking and mapping
in man made and
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natural structures.
‘Visual’ or ‘Path Shape’ Accuracy
Walked path straight up and down the 8th floor hallway 5 times
Sentrix* CompetitorSentrix Competitor
* No knowledge of building map
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* No knowledge of building map
User Community Involvement
Firefighter 1 Training Burns at MFRI Attack, Back-up, Search & Rescue, , p, ,
Ladders
Incorporating performance and usability feedback from the testingusability feedback from the testing
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Elevation Processing - High temp, 25 min
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Raw and Processed Elevation Data from Lead Hose Team in FF 1 Training Test
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1? Flipped Raw Pressure Data-1? Flipped Raw Pressure Data
~25 minute test
Enter buildingApproach Fire
Processed Data
Enter building
Processed Data
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start ground floor, enter structure & proceed to fire floor (3), extinguish fire, exit
Sentrix Tracking Performance
May 2010 data including: Enhanced Inertial & Navigation
E i (NO MAPS RANGING)Engines (NO MAPS or RANGING)
Course 2 6th-10th floor 6 10 floor office building of steel and
concrete construction course includes elevators & stairs course includes elevators & stairs 37 trials – 18 different people no preinstalled infrastructure
Average Distance Error: 3.5 m or 1.2% distance traveled
Average Elevation Error: < 0.1mAverage Angle Error: 3 degrees
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Average Angle Error: 3 degrees
Methods to Improve Performance
3 2Average Error (meters)
3.2
2.2 2 1.8
Two reference tagsin 300 m path 6th & 8th floors
NO Maps or Tags
Maps Tags Maps & Tags
6 & 8 floors
Reference Tags & Map Information Reference Tags & Map Information
132010
g pg pImproves PerformanceImproves Performance
Enhancing Well Classified Tracks
Accurate ranging sensors can improve performance
Average error 3.2 mMax error 7.3 m
Average error 1.2 mMax error 2.8 m
Adding Ranging Sensor to NavigationNavigation
Engine Sensors
142010
Correcting Unclassified Motions
Intentionallyintroduced error with “unclassified” motions
TRX Navigation Engine + Simulated Ranging
(No Mapping Corrections)unclassified motions (No Mapping Corrections)
(Max Error 16.54 m)
(No Mapping Corrections)Max Error 5.91 mAverage 1.89 m
Adding Ranging Sensor to Navigation
E i SEngine Sensors
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Navigation Engine Robustness
Systems with complementary errors can provide enhancements even if these systems have high errors. TRX’s Navigation
E i i b t t i l ti d t d t ki ithEngine is robust to errors in location data and to working with limited data from a single reference. Triangulation/preinstalled
infrastructure is not required. Location Data with 50% Outliers
(0 to100m additive error). Avgerror 2 73M
Range data from only one reference (Avg error 2.11 m)
error 2.73M
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SentrixTM Commercial Availability
Sentrix Product and Navigation Engine software now commercially available
Qualified and tested for In-building safety and
inspection applications p pp Integration with partner
systems
Ranging systemRanging system integration will expand applications to include the full array of First Responder applications
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TRX S stems IncTRX Systems, Inc.7500 Greenway Center Dr., Ste. 820
G b lt MD 20770Greenbelt, MD 20770(+1) 301-313-0053
182010 TRX Proprietary 1