ウェアラブルによるシームレスな屋内・屋外測位を用いた位置ベース安全管理
Location-Based Safety Management with Wearable Seamless Indoor-Outdoor Positioning
GNSS・IMU・気圧センサ・LTE Cat-Mを搭載した省リソースなウェアラブルタグとクラウド分割アーキテクチャにより、屋内外をシームレスに追跡する安全管理システムを構築し、平均誤差1.32m（屋内）・3.30m（屋外）を達成した。
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著者: Anh-Van Vu, Seungwoo Chae, Changmin Sung, Van-Tuan Nguyen, Dongsoo Han
分類: cs.RO
原文アブストラクト
Reliable worker localization is essential for real-time industrial safety management, but seamless outdoor-indoor positioning remains challenging. GNSS performs well outdoors yet degrades near buildings and fails indoors, while many indoor systems require costly infrastructure or extensive calibration. This paper presents a practical safety-oriented positioning system that uses resource-constrained wearable tags and a device-cloud split architecture for continuous outdoor-indoor worker tracking. The tag integrates GNSS, IMU, barometric sensing, LTE Cat-M communication, and performs lightweight sensor fusion, while the cloud server executes map-aware fusion for continuous tracking. Developed as an operational platform, the system also includes a database, a map tool, and a dashboard that provide real-time monitoring, geofencing-based access alerts, and safety and productivity analysis. Experiments with multiple participants, each walking an approximately 1400 m outdoor-indoor route, using LTE Cat-M communication, achieve mean errors of 1.32 m indoors and 3.30 m outdoors, while maintaining low positioning latency and efficient power consumption. These results demonstrate the feasibility of wearable-based seamless positioning for scalable real-time safety management.