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This paper presents an indoor navigation system based on sensor data from first responder wearable modules. The proposed system integrates data from an inertial sensor, a digital camera and a radio frequency identification device using a sophisticated fuzzy algorithm. To improve the navigation accuracy, different types of first responder activities and operational conditions were examined and classified according to extracted qualitative attributes. The vertical acceleration data, which indicates the periodic vibration during gait cycle, is used to evaluate the accuracy of the inertial based navigation subsystem. The amount of strong feature correspondences assess the quality of the three-dimensional scene knowledge from digital camera feedback. Finally, the qualitative attribute, in order to evaluate the efficiency of the radio frequency identification subsystem, is the degree of probability of each location estimate. Fuzzy if-then rules are then applied to these three attributes in order to carry out the fusion task. Simulation results based on the proposed architecture have shown better navigation effectiveness and lower positioning error compared with the used stand alone navigation systems.
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Amanatiadis et al. (2010) studied this question.
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