ABSTRACT
For all these reasons position determination in the CADMS is based on inertial navigation. Inertial Measurement Units (IMUs) mounted on the rescue workers’ feet or on the upper part of the body allow for infrastructureless indoor positioning. Beginning at a defined starting point in the building or somewhere in its surrounding area and tracking the movements of a person by numerical integration of the sensor’s acceleration, the current position can be determined. Over time the measurement errors grow and therefore the exact position cannot be calculated relying exclusively on the technique of inertial navigation (Beauregard & Haas 2006).
