Indoor location systems in emergency scenarios: A Survey <s> RELATED WORK <s> Summary and recommendations Presently, GPS-equipped mobile phones are launched at a large scale, enabling a variety of positioning based services. Indeed, GPS is expected to be the future killer ap ... <s> BIB001 </s> Indoor location systems in emergency scenarios: A Survey <s> RELATED WORK <s> Indoor localization technologies hold promise for many ambient intelligence applications, including in-situ navigational assistance for individuals with wayfinding difficulties. Given that the literature on indoor localization is vast and spans many different disciplines, we conducted a comprehensive review of the dominant technologies. We propose a taxonomy of localization technologies on the basis of the measured physical quantity. In particular, we identified, radio frequency, photonic, sonic and inertial localization technologies as leading solutions in the field. For each selected technology, the fundamental scientific mechanisms for localization are explained, key recent literature appraised and the merits and limitations are discussed. Recommendations are made regarding the creation of context-aware systems that can be used to enhance a user's topographical orientation skills. <s> BIB002 </s> Indoor location systems in emergency scenarios: A Survey <s> RELATED WORK <s> Current advances in localization and tracking technology have the potential to develop into much-needed tools for the saving of lives in emergency response and rescue missions, and for the safe-keeping of lives in military operations. However, civilian and military users face different environments and consequently have different user requirements. Even within the two broad fields of civilian and military applications, different types of personnel and indeed different types of missions face different needs and constraints. For instance, firefighters engaged in the suppression of a forest fire have other requirements than firefighters suppressing a fire in a high-rise building, or a conflagration in a large industrial complex full of hazardous materials. Military personnel engaged in counter-insurgency operations face requirements different from those tasked to rescue hostages held in a closed environment. This paper aims to survey the different requirements for localization and tracking technology by mission type, so that users can more easily determine their own specific technology needs. Although primarily aimed to describe requirements for military personnel, law enforcement officers, and firefighters, needs and constraints for several types of civilian applications are covered as well. Despite differences in requirements, it makes sense to develop technologies that will target several of these end-user groups. A new joint facility for development of requirements together with representatives from the various branches, and the evaluation of existing and emerging localization and tracking systems, would assist in the enabling of reliable and user-friendly capability to respond to, and recover from, all-hazards emergencies and combat operations. <s> BIB003 </s> Indoor location systems in emergency scenarios: A Survey <s> RELATED WORK <s> The availability of a reliable and precise tracking system for relief units operating in mission critical scenarios would drastically improve the situational awareness and thus facilitate the mission planning and accomplishment as well as increase the safety of human resources. Thus, the demand for such a system is very high both in the military and in the emergency and crisis intervention domain. While there are solutions like GPS for the localization in open areas, problems arise in urban scenarios and indoors due to insufficient or failed signal reception. For indoor use, multiple alternative localization concepts exist that are suited for different use cases and expose varying properties in precision, complexity and required preconditions. The deployment within mission critical scenarios implicates explicit restrictions and requirements so that only some of the techniques are adept or have the potential of being used here. This article identifies the commonly issued requirements to an indoor tracking in mission critical scenarios and introduces basic techniques for position estimation. Subsequently, existing indoor tracking systems specifically in the field of mission critical scenarios are reviewed with a focus on their capabilities in terms of reliability and accuracy. By doing so, an overview of current approaches in this field is given. Furthermore, the most adept techniques are classified with respect to the requirements within mission critical scenarios. <s> BIB004 </s> Indoor location systems in emergency scenarios: A Survey <s> RELATED WORK <s> Recent advances in CCD technologies, processing speed and image understanding have been driving the development of the camera-based positioning systems. An improved performance of optical systems has triggered image based positioning methods to become an attractive alternative for applications in industrial metrology as well as for robot- and pedestrian navigation. This paper provides a survey of current optical indoor positioning approaches. Different systems are briefly described and categorized based on how the images are referenced to the environment. <s> BIB005 </s> Indoor location systems in emergency scenarios: A Survey <s> RELATED WORK <s> In order to provide location information for indoor applications and context-aware computing, a lot of research is being done since last decade for development of real-time Indoor location system. In this paper, we have investigated indoor location concepts and have focused two major technologies used in many indoor location systems i.e. RF and ultrasonic. An overview of various RF systems that use different RF properties for location estimation has been given. Ultrasonic systems have been reviewed in detail as they provide low cost fine grained location systems. A few well known ultrasonic location systems have been investigated with a comparison of the system based on performance, accuracy and limitations. <s> BIB006 </s> Indoor location systems in emergency scenarios: A Survey <s> RELATED WORK <s> With the continual miniaturisation of sensors and processing nodes, Pedestrian Dead Reckoning (PDR) systems are becoming feasible options for indoor tracking. These use inertial and other sensors, often combined with domain-specific knowledge about walking, to track user movements. There is currently a wealth of relevant literature spread across different research communities. In this survey, a taxonomy of modern PDRs is developed and used to contextualise the contributions from different areas. Techniques for step detection, characterisation, inertial navigation and step-and-heading-based dead-reckoning are reviewed and compared. Techniques that incorporate building maps through particle filters are analysed, along with hybrid systems that use absolute position fixes to correct dead-reckoning output. In addition, consideration is given to the possibility of using smartphones as PDR sensing devices. The survey concludes that PDR techniques alone can offer good short- to medium- term tracking under certain circumstances, but that regular absolute position fixes from partner systems will be needed to ensure long-term operation and to cope with unexpected behaviours. It concludes by identifying a detailed list of challenges for PDR researchers. <s> BIB007
We identified only one study that performed a review of indoor positioning systems for emergencies scenarios BIB004 . It XI Brazilian Symposium on Information System, Goiânia, GO, May 26-29, 2015. presents only radio and inertial-based systems. This study does not list the characteristics of emergency situations and does not address new techniques arisen since 2011. Other studies performed surveys about location systems in general scenarios BIB002 and related to specific techniques: radio  BIB002 , ultrasonic BIB006 , optical BIB005 and inertial BIB007 . In BIB001 is presented a list of user requirements for location systems in emergency scenarios, extracted from interviews with firefighters, police and military personnel. This work also analysis performance and limitations of GNSS (Global Navigation satellite Systems), radio and inertial navigation systems. In BIB003 authors present a continuation of the research, bringing a more extensive list of requirements. However, this work does not consider the specifics of each type of emergency scenarios.