An Accelerometer and Magnetometer-Based Indoor Positioning System for Firefighters

The inability to use GPS in the indoor environment often results in firefighters being unable to obtain their locations. In this research, we designed an indoor positioning system based on the waypoint speculation algorithm using an MPU6050 accelerometer and RM3100 magnetometer module for firefighters. The measured data on a firefighter was sent wirelessly to Matlab in the host computer. The gait and positioning information was processed according to the random forest algorithm and displayed on the host computer. It was validated experimentally that the proposed system can realize functions of step counting, positioning, gait judgment, and trajectory display. The proposed system would benefit firefighters to perform tasks under extreme conditions and provide protection for their life safety.