NIKE BLUETRACK: Blue Force Tracking in GNSS-Denied Environments Based on the Fusion of UWB, IMUs and 3D Models

Karin Mascher*, Markus Watzko, Axel Koppert, Julian Eder, Peter Hofer, Manfred Wieser

*Korrespondierende/r Autor/-in für diese Arbeit

Publikation: Beitrag in einer FachzeitschriftArtikelBegutachtung


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.
PublikationsstatusVeröffentlicht - 1 Apr. 2022

ASJC Scopus subject areas

  • Analytische Chemie
  • Information systems
  • Instrumentierung
  • Atom- und Molekularphysik sowie Optik
  • Elektrotechnik und Elektronik
  • Biochemie

Fields of Expertise

  • Information, Communication & Computing


Untersuchen Sie die Forschungsthemen von „NIKE BLUETRACK: Blue Force Tracking in GNSS-Denied Environments Based on the Fusion of UWB, IMUs and 3D Models“. Zusammen bilden sie einen einzigartigen Fingerprint.

Dieses zitieren