GPS World, January 2011

WIRELESS LBS Personal Navigation The RFID transponder forms together with the smartphone the mobile unit RFID information including the transponder ID is sent to an RFID reader when the person passes by an RFID gate Several pieces of RFID data are gathered on an RFID server which sends the information necessary for positioning to the CG PS The CG PS is responsible for the position calculation Through a TCP IP interface it recieves sensor data from the mobile device and processes it with additional reference information from Wi Fi GSM and RFID positioning A fi lter fusion module calculates one integrated IEGLO position from the different determined positions That position together with quality information is transmitted to the service center The CG PS also instantly forwards alarm and status messages from the mobile device to the service center The service center forms the interface between IEGLO operator and users It stores databases of position information and personal information The geo database contains all information about the positions of the monitored person The personal database contains user information emergency contacts and nursing staff The user interface at the service center is Internet based A standard desktop PC with web browser relays alarm messages from the different mobile devices and manages user data and nursing staff information In cases of alarm the event is instantly displayed via the user interface Information such as body behavior position and location of the user are visualized for the operator who can then start the alarm chain which includes as a fi rst measure contacting the mobile user As further measures emergency services can be contacted and guided to the person in distress Quantitative and Qualitative Nav In this article non conventional INS GNSS integration refers to classical or quantitative navigation combined with FIGURE 2 Quantitative and Qualitative states and observations in IEGLO what we have named qualitative navigation Roughly speaking quantitative navigation provides the where while quantitative navigation furnishes the how Qualitative navigation was a key requirement for IEGLO as the patients primary information of interest is her or his safety status FIGURE 2 summarizes the relationships between quantitative and qualitative observations Any type of navigation particularly quantitative navigation is characterized by a navigation space For example in INS GNSS navigation the navigation space N or state space is P V Ω the set of position velocity and attitude vectors and the navigation function T PVΩ t p v ω maps the time t into a particular navigation state p t v t ω t Typically T R P R3 V R3 and Ω 02π 3 It is well known that there are various choices for the navigation space from the simple point navigation where N P to the complex N P V Ω B where B includes time dependent calibration and other ancillary states Qualitative navigation differs from classical quantitative navigation in the navigation space and clearly in the navigation function T N To illustrate the idea let us compare and describe the classical quantitative navigation space P V Ω with one possible P V Ω qualitative navigation space While for quantitative navigation we have t T R p x y z P R3 v v x v y v z V R3 ω ω x ω y ω z Ω 02π 3 for qualitative navigation we might have t T R p P hospital home park v V not moving walking running ω Ω standing lying sitting Quantitative navigation is not just about providing estimations of the navigation states the stochastic fi gures describing the precision of the estimated states are also provided Thus quantitative and qualitative navigation spaces are extended in dimension to include the precision space component namely Σ P V Ω and Σ P V Ω Navigation theory claims that navigation states might be estimated from observations through the appropriate dynamic and static models differential and ordinary stochastic equations Such a statement applies for both proposed navigation approaches quantitative and qualitative Thus the relation model observation parameter can be written as l h l X for the quantitative case where the quantitative observations l are usually obtained by performing the GPS World January 2011 www gpsworld com 66