HEARD — Hiking Emergency Assistance and Rescue Device

Embedded devices for the safety of hiking groups in remote environments — fully offline, over LoRa.

Born as a Bachelor's thesis in Computer Engineering and Computer Science — Alma Mater Studiorum · University of Bologna (Cesena Campus), AY 2024–2025. Author: Lucio Baiocchi · Supervisor: Prof. Alessandro Ricci

📺 Build video: the whole creation process is documented on YouTube.

The Heard Core prototype: live group status on e-ink (left) and the internals — ESP32, GPS, LoRa, e-ink (right). 10-cent coin for scale.

The problem

In remote mountain areas there is no cellular coverage, and existing safety tools (PLBs, satellite messengers, GPS locators) are individual-use only: they can call for help after an accident, but they don't help a group stay together and prevent one. HEARD is a small mesh of ESP32 devices that lets a group leader know, in real time and with zero infrastructure, where everyone is and whether anyone left the planned route.

How it works

• Every hiker carries a device with GPS and a LoRa radio.
• The planned route (GPX) is loaded onto each device; an onboard algorithm continuously classifies the hiker as IN_PATH / OUT_PATH against a configurable corridor (default ±100 m).
• The group leader's device (Core) periodically polls the group over LoRa. Out-of-range members are reached via multi-hop relaying through the other devices (selective flooding with hop lists).
• Everything runs offline on the devices themselves: no phone, no internet, no SIM.

Device variants

Prototype status: the thesis goal was to build a first working demo and the architecture behind it — the protocol, the off-route detection and the firmware-in-the-loop simulator — not a finished product. The group protocol (ConnectionManager) is shared firmware code implementing both roles: device id 0 acts as the Core (initiates polling rounds), any other id acts as a Node (relays REQs, announces out-of-range members via WAIT, forwards POS reports toward the core). The simulator regression-tests this with all-real-firmware groups up to 3 hops deep. dispositivo_figlio/ itself still contains only a minimal LoRa receiver sketch — a standalone Node build (shared protocol + GPS + path check, no display) is an open milestone (#1), and more field testing and improvements are planned — issues and contributions are welcome.

LoRa protocol (3 message types)

REQ|hopList|knownPositions   Core broadcasts a position request
WAIT|deviceId                an intermediate node signals it is relaying
POS|id,lat,lng|...           a device returns (aggregated) positions

WAIT messages keep the Core's timeout alive while distant nodes are being reached; duplicate relays are suppressed via hop-list fingerprints. Polling interval, global and per-device timeouts are configured in code/dispositivo_madre/include/config.h.

The repository includes a full digital twin of the system: the actual firmware protocol code (ConnectionManager) is compiled into a Python module via pybind11 and driven tick-by-tick along real GPX tracks, with a probabilistic LoRa channel (distance falloff + optional terrain line-of-sight using ITU-R P.526 knife-edge diffraction over real DEM tiles).

Recorded runs are replayed in the browser on 3D terrain (MapLibre GL JS):

Blue trail = planned route, green corridor = allowed deviation, dots = devices (red = Core), expanding rings = LoRa transmissions, sidebar = live protocol state, delivery metrics and group connectivity matrix.

# 1. Build the simulation module (firmware C++ → Python)
cd code/simulator
pip install numpy matplotlib pybind11
cmake -B build -DPYTHON_EXECUTABLE=$(which python3) && cmake --build build
cp build/heard_sim*.so .

# 2. Record a run (real GPX, optional terrain obstruction, custom radio range)
python3 record.py --loops 1 --terrain --reliable 2000 --max-range 5000

# 3. Replay it in 3D
cd web && python3 -m http.server 8000   # → http://localhost:8000

See code/simulator/README.md for the full documentation.

Repository layout

code/
├── dispositivo_madre/    Heard Core firmware   (PlatformIO · ESP32 · FreeRTOS · C++17)
├── dispositivo_figlio/   Node LoRa receiver test sketch (see Prototype status above)
├── path_loader/          GPX tools: clean tracks, upload routes to devices over serial
└── simulator/            Digital twin: firmware-in-the-loop simulation
    ├── sim/              pybind11 shims wrapping the real ConnectionManager
    ├── mocks/            Arduino / FreeRTOS / LoRa mocks for host compilation
    └── web/              MapLibre 3D replay viewer (ES modules, no build step)
images/                   Figures
HEARD_PROJECT.md          Comprehensive project description

Hardware

ESP32 (dual-core, FreeRTOS) · u-blox NEO-6M GPS · LoRa transceiver · 2.9″ e-ink display (Core) · 3D-printed casing. Field tests measured ~1 m GPS error, <1% path-deviation error, LoRa range of ~3 km open / 300–400 m obstructed.

The 3D-printable enclosure files will be published as a release asset once the final models are ready.

Product concept: Heard Core / Node handhelds and the button-sized Heard Pico for children.

Documentation

• HEARD_PROJECT.md — comprehensive project description
• ROADMAP.md — what's next: firmware milestones, simulator improvements, MeshCore/Meshtastic as transport
• code/simulator/README.md — simulator & viewer manual
• code/simulator/SIMULATION.md — deep dive: how the simulation works and why every parameter has its value
• code/simulator/ARCHITECTURE.md — how the firmware is compiled into the simulator

License

Licensed under the Apache License 2.0.

⚠️ Disclaimer: HEARD is a research prototype, not a certified safety device. Do not rely on it as your only emergency equipment in the field.