First Responder Tracking and Communication System

Abstract

The present invention relates to a system and method for tracking and communicating with first responders. The system includes one or more wearable devices, each associated with at least one first user and configured to function as a node to form a mesh network with other wearable devices. The wearable devices are configured to enable first users to track and communicate with other first users. The system further includes at least one user device associated with a second user. The first user is a first responder and the second user is an incident commander. The system further includes a computing device capable of communicating with the wearable devices and the user devices. The computing device is configured to receive data related to the first responders and enable three-dimensional tracking and communication between the first responders and the incident commander.

Description

[Technical Field]

[0001] The present invention relates generally to tracking and communication systems, and more particularly to tracking and communication systems and methods for first responders.

[0002] (Reference to Related Application) This application claims priority to International Patent Application PCT / US2023 / 086362, filed December 29, 2023, and also claims priority to U.S. Provisional Application No. 63 / 436,157, filed December 30, 2022, the entire contents of both of which are incorporated herein by reference. [Background technology]

[0003] First responders means organizations and individuals who provide law enforcement, safety, and protection services to the public. First responders include law enforcement, fire, and safety personnel, such as police officers, sheriffs, highway patrol officers, investigators, special law enforcement units, firefighters, combat personnel, emergency medical service personnel, Red Cross personnel, and other emergency response personnel.

[0004] During indoor incidents, first responders must adapt to unpredictable circumstances. For example, the building structure, the intensity of the fire, and the number of responders required can change depending on the situation. In these situations, responders require situational awareness to successfully complete operations without personnel losses. For example, during a fire incident, the door to a specific room may become blocked, trapping responders and civilians in the room. In this case, the incident commander or other first responders near the room must understand the situation and rescue the trapped responders and civilians. However, with existing conventional systems, trapped responders can only send a message that they are "trapped in the room." Conventional systems rely on talk radios to communicate with other first responders and the incident commander. However, depending on the room's structure and location, such as a basement, even sending a message can be difficult. The incident commander and other first responders must search the entire building to locate the trapped responders and civilians. However, in such situations, searching the entire building is not a practical option and often results in casualties.

[0005] As prior art to the subject matter of the invention disclosed herein, there are several examples of patent applications that address the problems mentioned in the background art, which are described below.

[0006] U.S. Patent No. 8,706,414 ("Method and system for locating and monitoring first responders"), assigned to Benjamin E. Funk et al., discloses a method and system for locating and monitoring the location and status of personnel and mobile assets, such as first responders. The system and method uses inertial navigation to determine the position, movement, and orientation of personnel or assets, and communicates with an external monitoring station to receive requests for and transmit information about the position, movement, orientation, and status of the personnel or assets.

[0007] U.S. Patent No. 11,051,156 ("Tracking and accountability device and system") to Patrick O'Connor et al. discloses a personal tracking unit (PTU) configured to determine a wearer's location within a structure. The PTU is operable to communicate with a wireless communication network and transmit location data signals to a command unit. The system generates a visual illustration in the form of a map based on ambient temperature data and location data obtained from the first and second PTUs. Measurements by accelerometers, gyroscopes, or MEMS sensors can determine the PTU's location and orientation. However, conventional systems such as these have the disadvantage of being unable to ensure seamless communication and tracking in any environment.

[0008] Therefore, there is a need for a system and method that allows for location tracking of first responders in both indoor and outdoor environments. Furthermore, the system and method should enable communication between first responders and with an incident commander. Additionally, the system and method should allow first responders to track the location of and communicate with other first responders within the incident scene. Summary of the Invention

[0009] The present invention discloses a system and method for tracking and communicating with first responders. The system includes one or more wearable devices, at least one user device, and a computing device. Each wearable device is associated with a first responder dispatched to an incident scene. The user device is associated with a second user, the second user being an incident commander. The computing device is configured to communicate with the wearable devices and the user devices.

[0010] Each wearable device functions as a node and is configured to communicate with other wearable devices in real time to form a wireless mesh network. Each wearable device includes a controller, a communication module connected to the controller, and an inertial measurement unit (IMU) capable of communicating with the controller. The communication module includes UWB (Ultra-Wideband), Bluetooth (BLE), and Zigbee. In one embodiment, the inertial measurement unit includes a three-axis accelerometer, a three-axis gyroscope, and a magnetometer. Each wearable device is configured to perform autonomous computing and transmit location tracking data to a computing device in real time. The location data is determined based on time-of-flight data between each wearable device.

[0011] The computing device is configured to receive location tracking data from each wearable device. The computing device can display the location tracking data from each wearable device in real time via the user device. The location tracking data includes the location of each first responder, the distance between each first responder, the floor on which each first responder is located, the distance traveled by the first responder, the orientation of the first responder, and the direction of travel. The computing device can also communicate with the first responders via the user device.

[0012] The wearable device further includes one or more biometric and medical sensors in communication with the controller and configured to transmit health-related data of the first responder to the computing device.

[0013] The wearable device further includes a microphone in communication with the controller, a memory in communication with the controller, one or more connector ports in communication with the controller, and one or more control buttons in communication with the controller. The control buttons are configured to enable a first responder to operate the wearable device. The wearable device further includes a power source for power supply and at least one display device in communication with the controller for displaying information relevant to the first responder. In one embodiment, the display device is an egocentric display device capable of displaying range, azimuth, heading, and elevation. In another embodiment, the connector ports include a connector port for an LCD display, a connector port for a battery, and a connector port for an external device. The wearable device further includes a pressure sensor and an altimeter in communication with the controller. Additionally, each wearable device includes a unique identifier (ID). Each wearable device is configured to receive and process time-of-flight data of radio signals to provide the responder's location. Furthermore, each wearable device includes autonomous computing capabilities and edge computing capabilities. The wearable device is also configured to be resistant to multipath fading and have IP (Ingress Protection) protection.

[0014] The computing device is configured to enable a second user to view health-related data for each first responder in real time. The computing device is further configured to enable a user device to display distance, azimuth, direction, and elevation of each first responder relative to a reference location. The computing device is configured to provide situational awareness to the first responders from the time they are deployed to the incident scene until rescue operations are completed. In one embodiment, the incident scene includes an indoor environment and an outdoor environment.

[0015] Other objects, features, and advantages of the present invention will become apparent from the following detailed description. However, it should be noted that the following detailed description and specific examples are intended to illustrate specific embodiments of the present invention and are not intended to be limiting. From the description of this specification, it will be apparent to those skilled in the art that various changes and modifications can be made within the spirit and scope of the present invention.

[0016] The foregoing summary and the following detailed description of the invention will be better understood when read in conjunction with the accompanying drawings. For the purpose of illustrating the invention, example configurations are shown in the drawings; however, the invention is not limited to the particular methods and structures disclosed therein. A description of a method step or structure referred to by a numeral in a drawing also applies to the description of the method step or structure shown by that numeral in a subsequent drawing. [Brief explanation of the drawings]

[0017] [Figure 1] 1 illustrates an example environment for a first responder tracking and communication system according to an embodiment of the present invention. [Figure 2] 2 is a diagram showing an example of a printed circuit board of the wearable device shown in FIG. 1. FIG. [Figure 3] FIG. 10 illustrates an example screenshot of a user interface displayed on an incident commander in accordance with one embodiment of the present invention. [Figure 4A]1 is an example of a graph showing the movement of a first responder obtained from acceleration sensor data according to an embodiment of the present invention. [Figure 4B] 10 is an example of a graph showing the orientation of a first responder obtained from data of a magnetic sensor according to an embodiment of the present invention. [Figure 4C] FIG. 4C illustrates an example of a model generated by tracking the movement and orientation of a first responder based on FIGS. 4A and 4B. [Figure 5A] 10 is an example of a graph showing the movement of a first responder obtained from data of an acceleration sensor according to another embodiment of the present invention. [Figure 5B] 10 is an example of a graph showing the orientation of a first responder obtained from data of a magnetic sensor according to another embodiment of the present invention. [Figure 5C] FIG. 5C illustrates an example of a model generated by tracking the movement and orientation of a first responder based on FIGS. 5A and 5B. [Figure 6A] 10 is an example of a graph showing the movement of a first responder obtained from data of an acceleration sensor according to yet another embodiment of the present invention. [Figure 6B] 10 is an example of a graph showing the orientation of a first responder obtained from data of a magnetic sensor according to yet another embodiment of the present invention. [Figure 6C] FIG. 7B is a diagram showing an example of a model generated by tracking the movement and orientation of a first responder based on FIGS. 6A and 6B. [Figure 7A] 10 is an example of a graph showing the movement of a first responder obtained from acceleration sensor data according to yet another embodiment of the present invention. [Figure 7B] 10 is an example of a graph showing the orientation of a first responder obtained from data from a magnetic sensor according to yet another embodiment of the present invention. [Figure 7C] FIG. 8 shows an example of a model generated by tracking the movement and orientation of a first responder based on FIGS. 7A and 7B. [Figure 8] FIG. 2 illustrates an example model of a first responder ascending and descending stairs, according to an embodiment of the present invention. [Figure 9]FIG. 2 is a diagram showing an example of a perspective view of the wearable device shown in FIG. [Figure 10] FIG. 2 is a diagram showing an example of a block diagram of components of the wearable device shown in FIG. 1.

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[0034] (Intentional spaces added to align paragraph numbers with the original text) DETAILED DESCRIPTION OF THE INVENTION

[0035] The present invention will be described below with reference to the accompanying drawings. The present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The described embodiments are illustrative in all respects and should not be construed as limiting.

[0036] FIG. 1 illustrates an example environment 100 for a system for tracking and communicating with first responders, according to one embodiment of the present invention. The system includes one or more wearable devices (102A, 102B, 102C, 102N) associated with first users, i.e., first responders (104A, 104B, 104C, 104N). At least one wearable device (102A, 102B, 102C, 102N) is associated with at least one first responder (104A, 104B, 104C, 104N). Hereinafter, wearable devices 102A, 102B, 102C, 102N are collectively referred to as "wearable devices 102" or "devices 102." Additionally, first responders 104A, 104B, 104C, and 104N are collectively referred to as "first responders 104" or "responders 104."

[0037] Each device 102 is configured to function as a node. The devices 102 are further configured to perform real-time node-to-node communication to form a mesh network among the wearable devices 102. The system further includes a computing device 106 configured to receive data from the wearable devices 102. The computing device 106 is configured to receive and display data related to first responders 104, enabling tracking and communication with the first responders 104.

[0038] The system further includes a user device associated with a second user, i.e., an incident commander, that can access the computing device 106 to track and communicate with the first responders 104. The user device may be, for example, a desktop computer, a laptop, a mobile phone, a tablet, a personal digital assistant (PDA), etc. The user device is configured to run one or more client applications, such as a web browser (for viewing content on the network), an email client (for sending and receiving email), an instant messaging client (for communicating with other users), and a file transfer protocol (FTP) client (for transferring files). In various embodiments, the user device may also include a wireless application protocol (WAP) browser or other protocol suite for wireless / mobile devices.

[0039] As shown in FIG. 2, the wearable device 102 includes one or more solid-state inertial measurement units (IMUs) 210 integrated with ultra-wideband (UWB) radios for receiving and processing time-of-flight data. The IMU 210 includes one or more sensors, including, but not limited to, a three-axis accelerometer and three-axis gyroscope 240, a magnetic sensor 244, and a low-power accelerometer 246 (shown in FIG. 10). The wearable device 102 also includes one or more biometric and medical sensors. The device 102 is configured to perform autonomous processing and transmit data to the computing device 106 in real time, without requiring pre-deployed infrastructure. The wearable devices 102 form a mesh communication network, enabling three-dimensional tracking of first responders 104 in indoor environments. Furthermore, the device 102 allows an incident commander to view real-time data regarding the location of first responders 104 in indoor environments. This allows the system to enhance mesh network functionality between the nodes of each wearable device 102.

[0040] The device 102 is configured to perform autonomous processing and transmit location tracking data to the computing device 106 in real time. The location tracking data is determined based on time-of-flight data between the wearable devices 102. The device 102 is configured to provide the location of the first responders 104 with an accuracy of at least one meter. In another embodiment, the device 102 may be configured to provide an accuracy of at least two meters. The computing device 106 is configured to receive the location tracking data of each wearable device 102. The computing device 106 is further configured to enable display of the location tracking data of each wearable device 102 in real time via a user device. The location tracking data includes the location of each first responder, the distance between each first responder, the floor on which each first responder is located, the distance traveled by the first responder, the bearing of the first responder, and the direction of travel of the first responder. The computing device 106 is also capable of communicating with the first responders via the user device.

[0041] The computing device 106 is configured to enable a second user to view health-related data for each first responder in real time. Additionally, the computing device 106 is configured to enable the user device to display the distance, azimuth, direction, and elevation of the first responder relative to a reference location. The computing device 106 is configured to provide situational awareness to the first responders from the moment they are deployed to the incident scene through the end of the rescue operation.

[0042] 2 and 10 , the printed circuit board 200 includes a controller with an embedded algorithm and one or more microelectronic components that can communicate with the controller. The microelectronic components include an ultra-wideband (UWB) sensor 202, a pressure sensor 206, a temperature sensor 238, a microphone 204, an altimeter 208, a memory chip or memory 228, a storage chip, a connector port for a liquid crystal display (LCD) 216, a microprocessor, and an inertial measurement unit (IMU) 210 (including, but not limited to, a 3-axis accelerometer and 3-axis gyroscope 240, a magnetic sensor 244, and a low-power accelerometer 246). The printed circuit board 200 also includes one or more ports that can be connected to external devices and communicate with the controller. These ports include a battery connection or charging port 212 and an external device connection port 214. The microphone 204 allows first responders to communicate with saved contacts.

[0043] Ultra-wideband 202 uses radio technology that enables highly accurate measurement of the time of flight of radio signals, enabling the location of first responders 104 to be determined with sub-meter accuracy. The custom-designed printed circuit board 200 is designed for reliable use in indoor environments by providing high immunity to multipath and interference (e.g., from walls). The device 102 further includes a power supply or power supply 236. In one embodiment, the power supply is a rechargeable lithium-ion battery. The device 102 includes autonomous processing and edge computing capabilities. The device 102 is also configured to comply with IEEE standard 802.15.4z, which provides physical layer security using a distance-time boundary protocol. The device 102 also includes one or more control buttons that enable a user to operate the device 102. The control buttons include, but are not limited to, an ON button and an OFF button. The device 102 further includes a display device. In one embodiment, the display device is configured to display the distance and bearing of one or more first responders 104 to the incident commander and responders 104. In another embodiment, the display device is configured as an egocentric display capable of displaying azimuth and elevation angles. The display device is further configured to be capable of displaying real-time data relevant to the first responders 104. In one embodiment, the display device is a liquid crystal display (LCD).

[0044] The wearable device 102 further includes one or more biometric and medical sensors configured to transmit data related to health attributes of the first responder 104 to the computing device 106, thereby enabling an incident commander to track the health attributes of the first responder 104 via the user device. The device 102 further includes one or more programmable push buttons 218, one or more programmable light-emitting diodes (LEDs) 220, a programmable acoustic buzzer 222, sensor electrodes 224, and a reset button 226 connected to the controller. The device 102 further includes a slot 234 for inserting memory 228, Bluetooth 230, and an NFC tag 232 for communication with third-party devices or other wearable devices 102. The device 102 also includes a wireless charging module 248 for wirelessly charging the device 102.

[0045] Referring to FIG. 9 , the wearable device 102 has a compact structure and can be worn on the wrist or any other part of the body. In one embodiment, the device 102 is configured to be worn on the wrist of the first responder 104. In another embodiment, the device 102 is provided as a clip-on wearable device. In yet another embodiment, the device 102 can be carried in the pocket of the first responder 104. In yet another embodiment, the device 102 is configured to be worn on the body of the first responder 104, for example, on the chest. In one embodiment, the wearable device 102 is attached by a strap (tether). In another embodiment, it is attached by a retractable strap. The wearable device 102 is a low-cost, compact, and lightweight device. In one example, the device 102 measures approximately 2 inches by 3 inches (approximately 5 cm by 7.6 cm) and weighs approximately 2 ounces (approximately 56 grams). In another example, the device 102 measures approximately 1 inch by 1 inch (approximately 2.5 cm by 2.5 cm) and weighs approximately 1.5 ounces (approximately 42 grams).

[0046] The devices 102 are configured to measure real-time distance and bearing between the first responders 104 and a reference location. In one embodiment, the reference location refers to the location of an incident commander. In one embodiment, the real-time distance and bearing are calculated using algorithms based on dead reckoning, two-way ranging (TWR), time difference of arrival (TDOA), and phase difference of arrival (PDoA) calculations. Each wearable device 102 associated with a first responder 104 functions as a node and is configured to perform computations autonomously among itself.

[0047] The wearable device 102 includes a communication module. The communication module is a wireless communication module that includes an Ultra Wideband (UWB) 202 and Bluetooth (BLE) for measuring distances between nodes. The communication module also includes ZigBee. Communication performance limitations include the packet error rate (PER) and the receiver's blocking rate. For example, the device 102 has a typical blocking performance of 1% UWB PER at a 3 dB backoff from the sensitivity point. The device 102 is configured to operate in a variety of environments where first responders 104 operate, such as firefighters, combat personnel, medical services, and law enforcement agencies. The device 102 is configured to have high resistance to multipath fading and also has a dust-proof and waterproof structure. For example, the device 102 has an IP67 or IP68 protection rating. Upon receiving location information from an incident site, the device 102 is configured to download a three-dimensional map of the site and display it to first responders.

[0048] FIG. 3 illustrates an example screenshot 300 of a user interface displayed on an incident commander, according to one embodiment of the present invention. The user interface is configured to display a mockup of an incident scene. The user interface is configured to display data related to the first responders 104. The displayed data includes the number of first responders 104, the location of each first responder 104, the distance between each first responder 104, the floor on which each first responder 104 is located, and the orientation of each first responder 104. Additionally, the displayed data includes status information such as whether the first responder 104 is walking upright, crawling, stationary, or moving toward the ceiling. The first responder's 104 heart rate is also displayed. Each wearable device 102 is assigned a name, and the location of the first responder 104 is indicated by the assigned name. For example, E1A, E1B, E1C, E1D, E1E, etc.

[0049] In one embodiment, the system is customized for a first responder 104, such as a firefighter or combat personnel. The system includes one or more wearable devices 102. Each firefighter can wear a wearable device 102, and each wearable device 102 can be labeled, for example, "Engine A" or "Engine B." In another example, each wearable device 102 can be labeled with the firefighter's code name. In yet another example, each wearable device 102 can be labeled with a name corresponding to the seat in the vehicle the first responder occupies, for example, "4A," "4B," or "4C," where "4A" and "4B" are seats behind the driver's seat and "4C" is the driver's seat. The devices 102 are configured to provide situational awareness from the time the firefighter is dispatched until rescue operations are completed at the incident scene. The firefighter can wear the device 102 around their chest using a retractable tether. The wearable device 102 is configured to display real-time data about each firefighter to the incident commander.

[0050] For example, if a fireball hits and firefighters scatter, the system can be configured to allow an incident commander to track the location of each firefighter, whether inside or outside the building. If one firefighter (node ​​1) wants to know the location of another firefighter (node ​​2), device 102 is configured to display the distance and bearing from node 2 to node 1. Firefighter (node ​​1) can track the location of the other firefighter (node ​​2) by pulling out device 102 from his or her chest and holding it up to his or her face shield.

[0051] In one embodiment, the system of the present invention is customized for first responders 104, such as police officers, combat personnel, or special forces tactical teams (SWAT). When executing a search warrant, the scene is often an indoor environment, such as a home or apartment. Police officers must be accompanied by a tactical team. Tactical team members and police officers can wear wearable devices 102. In the event of an unforeseen event, such as an "officer down," the system is configured to provide situational awareness to the officers and their teams. Additionally, the system is configured to allow commanders to track the whereabouts of the officers and their teams in real time to maximize safety.

[0052] FIG. 4A illustrates an example graph 400 showing the movement of a first responder 104 based on acceleration sensor data, according to one embodiment of the present invention. Segment 402A shows the movement of the first responder 104, and segment 402B shows periods of rest. FIG. 4B illustrates an example graph 410 showing the orientation of the first responder 104 based on magnetic sensor data, according to one embodiment of the present invention. Segment 412A shows periods of rest, and segment 412B shows the orientation or heading of the first responder 104. FIG. 4C illustrates an example model 420 generated by tracking the movement and orientation of the first responder 104 based on FIGS. 4A and 4B. Model 420 provides data such as the location, orientation, distance traveled, time taken to travel, and movement status of the first responder 104.

[0053] FIG. 5A illustrates an example graph 500 showing the movement of a first responder 104 based on acceleration sensor data, according to another embodiment of the present invention. FIG. 5B illustrates an example graph 510 showing the orientation of a first responder 104 based on magnetic sensor data, according to another embodiment of the present invention. Segment 502 indicates changes in direction. FIG. 5C illustrates an example model 520 generated by tracking the movement and orientation of a first responder 104 based on FIGS. 5A and 5B. Model 520 provides data regarding the location, orientation, distance traveled, time taken to reach that distance, and movement of the first responder 104.

[0054] FIG. 6A illustrates an example graph 600 showing the movement of a first responder 104 based on acceleration sensor data, according to yet another embodiment of the present invention. Segment 602 indicates the first responder 104 is walking continuously. FIG. 6B illustrates an example graph 610 showing the orientation of a first responder 104 based on magnetic sensor data, according to yet another embodiment of the present invention. Segment 612 indicates the change in the direction of travel of the first responder 104. FIG. 6C illustrates an example model 620 generated by tracking the movement and orientation of the first responder 104 based on FIGS. 6A and 6B. Model 620 provides data regarding the position, orientation, distance traveled, time taken to reach that distance, movement state, and x / y coordinates of the first responder 104.

[0055] Figure 7A shows an example graph 700 illustrating the movement of a first responder 104 based on acceleration sensor data, according to yet another embodiment of the present invention. Figure 7B shows an example graph 710 illustrating the orientation of a first responder 104 based on magnetic sensor data. Figure 7C shows an example model 720 generated by tracking the movement and orientation of a first responder 104 based on Figures 7A and 7B. Model 720 provides data regarding the position, orientation, distance traveled, time taken to reach that distance, movement state, and x / y coordinates of the first responder 104.

[0056] 8 illustrates an example model 800 of a first responder 104 ascending or descending stairs, according to one embodiment of the present invention. Model 800 provides information regarding the height (represented as H) at which the first responder 104 is located in an indoor environment. Device 102 is configured to provide the location of first responder 104 to an accuracy of at least 0.5 meters, or to an accuracy of less than 0.5 meters.

[0057] The system of the present invention provides a small device 102 for tracking the location of a first responder 104 within a building or underground (e.g., tunnel, basement, etc.). Furthermore, the system is configured to enable three-dimensional tracking of the first responder 104 in both indoor and outdoor environments. The system is flexibly customizable to accommodate a variety of first responders 104. The system of the present invention is configured without requiring pre-deployed infrastructure. The system improves situational awareness, safety, and security, and reduces the risks faced by first responders 104. The present invention provides a low-cost, affordable system, making this technology accessible to a wider audience. Furthermore, the system is configured to enable communication between first responders 104 and incident commanders.

[0058] While the present disclosure has been described based on examples, those skilled in the art will recognize that various modifications can be made and components can be substituted with substantially equivalent means without departing from the scope of the disclosure. Furthermore, many modifications can be made to adapt a particular system, device, or component thereof to the content of the present disclosure without departing from its essential scope. Therefore, the present disclosure is not limited to the particular embodiments disclosed, but is intended to encompass all embodiments falling within the scope of the appended claims. Note that terms such as "first," "second," etc., do not denote order or importance, but are used merely to distinguish between components.

[0059] The terms used herein are for the purpose of describing particular embodiments and are not intended to limit the disclosure. As used herein, the singular forms "a," "an," and "the" are used to include the plural forms unless the context clearly dictates otherwise. In addition, the terms "comprises" and "comprising" specify the presence of stated features, elements, steps, operations, components, and / or parts, but do not exclude the presence or addition of other features, elements, steps, operations, components, and / or parts.

[0060] The description of the present disclosure has been provided for purposes of illustration and description, and is not intended to be exhaustive or to limit the scope of the disclosure to the form described. From the disclosure, it will be apparent to those skilled in the art that various modifications and variations are possible without departing from the scope of the disclosure. The embodiments described herein have been selected to best explain the principles of the present disclosure and its practical applications, and are intended to enable those skilled in the art to understand the present disclosure for various uses and modifications. CLAIMS

Claims

1. 1. A system for tracking and communicating with first responders, comprising: one or more wearable devices configured to communicate in real time with other wearable devices to form a wireless mesh network, the wearable devices associated with first responders deployed to the incident site; at least one user device associated with the second user; a computing device capable of communicating with the wearable device and the user device; each of the wearable devices comprises a controller, a communications module connected to the controller, and an inertial measurement unit capable of communicating with the controller; each of the wearable devices is configured to perform autonomous computing and transmit to the computing device in real time location tracking data determined based on time-of-flight data between the wearable devices; the computing device: receiving location tracking data for each of the wearable devices; via the user device, displaying location tracking data of each of the wearable devices in real time; configured to communicate with the first responder via the user device; the location tracking data includes the location of each first responder, the distance between each first responder, the floor on which each first responder is located, the distance traveled by each first responder, the orientation of each first responder, and the direction of travel of each first responder; A system characterized by:

2. The wearable device further comprises: one or more biometric and medical sensors configured to communicate with a controller to transmit health-related data of the first responder to a computing device; a microphone in communication with the controller; a memory in communication with the controller; one or more connector ports capable of communicating with the controller; one or more control buttons in communication with the controller configured to enable the first responder to operate the wearable device; a power source for powering the wearable device; a wireless charging module for wirelessly charging the wearable device; and at least one display device in communication with the controller configured to display information related to the first responders. The system of claim 1 .

3. The display device is a self-centering display device that displays the distance, direction, azimuth angle, and elevation angle of a first responder at the incident scene. The system of claim 2 .

4. The connector ports include a connector port for a liquid crystal display device, a connector port for a battery, and a connector port for an external device. The system of claim 2

5. Each wearable device is provided with a unique identifier. The system of claim 1 .

6. the computing device: the second user is capable of viewing health-related data of each first responder in real time, the second user being an incident commander; displaying on the user device the distance, direction, azimuth, and elevation of the first responder relative to a reference location; displaying the location tracking data and health-related data using the unique identifier on a mockup screen at the incident scene; It provides situational awareness from the moment first responders are dispatched until rescue operations are completed at the incident scene. The system of claim 1 .

7. The communication module includes Ultra Wide Band (UWB), Bluetooth (BLE) and Zigbee. The system of claim 1 .

8. The inertial measurement unit includes a three-axis acceleration sensor, a three-axis gyroscope, and a magnetic sensor. The system of claim 1 .

9. The wearable device further comprises a pressure sensor and an altimeter capable of communicating with the controller. The system of claim 1 .

10. each wearable device configured to receive and process time-of-flight data of the radio signals to provide location tracking data for a first responder; The system of claim 1 .

11. a system in which each wearable device is configured with autonomous processing and edge computing capabilities; The system of claim 1 .

12. The incident scene includes an indoor environment and an outdoor environment. The system of claim 1 .

13. Each wearable device is configured to be resistant to multipath fading and to have a dust-proof and waterproof protective structure. The system of claim 1 .

14. Each wearable device is configured to download a three-dimensional map of an incident scene upon receiving location information of the incident scene and display it to first responders. The system of claim 1 .

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