Abstract
First responders and other emergency services personnel must often enter buildings which prevent the use of GPS or other satellite navigation signals for positioning. Loss of navigation capability combined with the fact that the buildings are often unknown to the personnel in question makes it more difficult for individual team members to coordinate with one another, and difficult or impossible for the team leader to monitor and direct the actions of each team member. While inertial navigation or pedestrian dead reckoning provide for some degree of navigation in GPS signal denied environments, these solutions degrade with time and may require prohibitively large and expensive inertial solutions to navigate over extended periods, while also allowing each individual user to accumulate independent positioning errors and thereby appearing to ‘drift away’ from one another. This paper presents an implementation of a collaborative navigation system utilizing each of user-to-user radio links, Global Navigation Satellite Systems (GNSS) when available, inertial navigation, pedestrian dead reckoning, as well as camera based Simultaneous Location and Mapping (SLAM) to provide a team of users with absolute and relative situational awareness for themselves and their team. The application of collaborative navigation to such a team provides the triple benefits of providing improved absolute navigation accuracy, improved relative navigation accuracy, and greatly enhanced situational awareness for all cooperating team members.