A Pedestrian Positioning System Integrated Into a Cyber-Physical System for Emergency Responders' Monitoring

An Indoor Positioning System (IPS) is a key component of a Cyber-Physical System (CPS) for emergency responders' monitoring during on-duty missions. In this paper, the Pedestrian Dead Reckoning (PDR) subsystem of the PROTACTICAL CPS is presented and evaluated. Firstly, the architecture of the PROTACTICAL CPS is introduced, then we introduce the node responsible for computing the position of the emergency responder based on the PDR approach and the theory behind our implementation. Five different paths were selected to evaluate the performance of our system, which include 2D and 3D scenarios. The Euclidean distance between the starting and final points and the total distance travelled were the metrics selected for the system performance evaluation. Although the tracking capabilities of the proposed system are quite evident, the error of the total distance travelled does not comply with the requirements of an IPS for emergency responders. The system reported an error up to 17% of the total distance travelled.