The Defense Threat Reduction Agency (DTRA) is seeking innovative software solutions through the Small Business Innovation Research (SBIR) program to integrate Wave Relay API features into the Thales InterSense IS-1500 Visual Inertial Tracking Software. The primary objective is to enhance local positioning capabilities for uncrewed and worn sensors during tactical operations by leveraging RF signal information, ensuring accuracy within 1 meter in a 300-meter by 300-meter area without GPS reliance, particularly in low-light conditions. This technology is crucial for improving the reliability of positioning solutions in GPS-denied environments, especially for Chemical, Biological, Radiological, and Nuclear (CBRN) sensor operations. Interested parties should note that the solicitation is set to open on June 25, 2025, with applications due by July 23, 2025, and can find more information at the DOD SBIR website.

## Description

The technology should use the Wave Relay API and SDK to determine which variables to leverage and how to integrate them into the existing IS-1500 software. The solution should be integrated into the TAK North Star Plug-in. The solution should provide accuracy within 1 meter in an area 300 meters by 300 meters without reliance on GPS/GNSS during periods of darkness. The final product should be integrated into the TAK North Star Plug-in as a capability available for any user with the appropriate hardware (End User Device, MPU5 Wave Relay Radio, and IS-1500).

## Objective

DTRA seeks a software solution which uses the Persistent Systems Wave Relay API and SDK to integrate RF signal information such as Time of Flight (ToF), Time Distance of Arrival (TDoA), and Asymmetrical Double-Sided Two-Way Ranging (ADS-TDR) into the Thales InterSense IS-1500 Visual Inertial Tracking software to provide an improved local positioning solution for uncrewed and worn sensors during tactical operations. The Thales InterSense IS-1500 software uses inertial and visual technologies to affect local positioning; however, IMU&rsquo;s are prone to error accumulation over time and visual tracking is impacted by low light conditions and other environmental complexities [1]. Persistent Systems Wave Relay MANET radios are used extensively within DTRA and the greater CBRN/CWMD community for sensor communications and the Wave Relay API provides data which can be used to enhance current inertial and optical tracking devices. Attempts to use RF signal data have limitations due to signal strength and interference [2]. The Wave Relay wave form provides up to 10 watts of power using 3 chain Multi-Input and Multiple-Output (MIMO) and mesh networking, offering a solution to both signal strength and interference limitations. Fusing the existing visual and inertial data with the Wave Relay signal information would provide a more reliable and accurate local positioning solution in GPS denied and contested areas. This solution would provide accurate positioning for CBRN sensors in manned and unmanned search operations. This technology would be integrated into the TAK North Star Plug-in, providing any Wave Relay and IS-1500 user with a robust local positioning solution.

## Phase I

<ul><li>Demonstrate 1 meter accuracy throughout a 300-meter by 300-meter area. The testable area should be complex (non-line of sight) requiring RF repeater nodes to affect communications.</li><li>The solution should be dynamic, meaning multiple users should be able to achieve 1 meter accuracy simultaneously. The accuracy should not degrade or drift over time beyond 1 meter. The Phase I deliverable should be a prototype software for the IS-1500 Visual Inertial Sensor.</li><li>The technology should integrate into the users TAK system; End User Device, IS-1500, CBRN Sensor, and MPU5 Wave Relay Radio.</li><li>Initial testing of the prototype should be conducted, and results should be documented and provided in the final report.</li><li>A demonstration should be provided for DTRA government representative, and a plan should also be submitted outlining the approach for Phase II if required.</li></ul>&nbsp;

## Phase II

<ul><li>Refine the technology IAW the sponsor/end user feedback</li><li>Integrate the latest Wave Relay API</li><li>Perform maritime testing</li><li>Perform subterranean testing</li><li>Investigate performance in extreme/limited coms environments where communications is intermittent or lost for up to 5 minutes</li><li>Provide 3 IS-1500 units with the software solution to DTRA for testing</li><li>Provide Software to TAK Product Center for validation</li><li>Provide a demonstration to government representatives</li><li>Provide a final report, documentation, and user guides</li></ul>&nbsp;

## Phase III: Dual Use Applications

<ul><li>Further develop the technology based on the DTRA feedback to improve accuracy and resilience</li><li>A final release of software with a continuous modernizations strategy with maintains currency with TAK Product Center, Wave Relay, IS-1500, and Android OS</li><li>Although additional funding may be provided through DoD sources, the awardee should look to other public or private sector funding sources for assistance with transition and commercialization. There is high demand for non-GPS positioning solutions for manned and uncrewed operations in the DoD, state and local government CBRN/CWMD enterprise</li></ul>&nbsp;

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