Mobile system for localization of people inside buildings

The paper presents a short-range system for localizing people indoors. This is a modified version of a system designed and already presented by the authors. The first version of the system was dedicated for localizing stationary users inside a building with the use of a localizing unit installed on a drone and operating from outside. The current version works similarly; however, it is capable of localizing also moving people. The localization is based on processing ranging measurements from ultra-wideband radio modules. As the system can be used for providing navigational awareness for firemen, police or military teams operating indoors, its ability to localize moving team members seems to be an important new feature.