Locating first responders deep within GPS-denied infrastructure with high precision has been an elusive goal of the fire safety and emergency personnel community for well over a decade. The objective is to pinpoint location to within a few meters, over the course of tens of minutes. These coincidentally are nearly the same goals for guidance systems on tactical missiles, and the preferred solutions today for such systems can cost $10K minimum, in addition to having prohibitive size/weight/power. Those same solutions were used in early proof-of-concept demonstrators for first responders, but proved to be barriers (cost and size) to actual deployment...
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