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Localization and tracking support is useful in many contexts and becomes crucial in emergency response scenarios: being aware of team location is one of the most important knowledge for incident commander. In this work both localization and tracking for rescuers are addressed in the framework of REFIRE project. The designed positioning system is based on the wellknown prediction-correction schema adopted in field robotics. Proprioceptive sensors, i.e., inertial sensors and magnetometer, mounteddoi:10.1109/ipin.2013.6817921 dblp:conf/ipin/FaramondiIPSD13 fatcat:tbhbgfvgungyvikudls2cuvydq