Integrity

Towards integrity monitoring for GNSS-based time synchronization in technical applications

Sep 20, 2024

Reliable overbounding for stochastic IMU error models using interval analysis

Sep 19, 2024

LUCOOP: Leibniz University Cooperative Perception and Urban Navigation Dataset

There is currently a lack of comprehensive, real-world, multi-vehicle datasets fostering research on cooperative applications such as object detection, urban navigation, or multi-agent SLAM. In this paper, we aim to fill this gap by introducing the novel LUCOOP dataset, which provides time-synchronized multi-modal data collected by three interacting measurement vehicles.

Jul 27, 2023

Towards a set-based detector for GNSS integrity monitoring

Jun 15, 2023

Bounding the residual tropospheric error by interval analysis

GNSS integrity monitoring requires proper bounding to characterize all ranging error sources. Unlike classical approaches based on probabilistic assumptions, our alternative integrity approach depends on deterministic interval bounds as inputs. The intrinsically linear uncertainty propagation with intervals is adequate to describe remaining systematic uncertainty, the so-called imprecision. In this contribution, we make a proposal on how to derive the required intervals in order to quantify and bound the residual error for empirical troposphere models, based on the refined sensitivity analysis via interval arithmetic. This will contribute to a realistic uncertainty assessment of GNSS-based single point positioning.

Dec 24, 2022

Towards integrity for GNSS-based urban navigation - challenges and lessons learned

For safety critical applications like autonomous driving, high trust in the reported navigation solution is mandatory. This trust can be expressed by the navigation performance parameters, especially integrity. Multipath errors are the most challenging error source in GNSS since only partial correction is possible. In order to ensure high integrity of GNSS-based urban navigation, signal propagation mechanisms and the potential error sources induced by the complex measurement environment should be sufficiently understood.

Jun 5, 2022

Deterministic approaches for bounding GNSS uncertainty: A comparative analysis

This paper introduces two deterministic approaches for GNSS uncertainty bounding and compares them with the conventional least-squares method theoretically and experimentally with simulated and real measurements.

Apr 7, 2022

Improved observation interval bounding for multi-GNSS integrity monitoring in urban navigation

Sep 20, 2021