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Integrity and Collaboration in Dynamic Sensor Networks.

Steffen Schön¹, Claus Brenner², Hamza Alkhatib³

¹Institut für Erdmessung, Leibniz Universität Hannover, 30167 Hannover, Germany. schoen@ife.uni-hannover.de.

Sensors (Basel, Switzerland)

|July 26, 2018

Summary

Global Navigation Satellite Systems (GNSS) offer positioning but struggle in cities. This research develops new integrity concepts for autonomous driving sensors to improve reliability and safety in dynamic environments.

Keywords:

GNSS camera collaboration integrity interval mathematics laser scanner set theory

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Area of Science:

* Navigation Systems and Sensor Fusion
* Intelligent Transportation Systems
* Data Integrity and Trustworthiness

Background:

* Global Navigation Satellite Systems (GNSS) provide essential positioning, velocity, and time data.
* Urban environments degrade GNSS performance due to signal obstructions and multipath, impacting autonomous driving.
* Current automotive navigation lacks robust integrity monitoring concepts, unlike aviation systems.

Purpose of the Study:

* To address the lack of integrity monitoring for automotive navigation sensors and fusion algorithms.
* To develop novel integrity concepts for enhanced accuracy, integrity, continuity, and availability in dynamic sensor networks.
* To improve the trustworthiness of navigation data in challenging urban environments.

Main Methods:

* Defining alternative integrity concepts using set theory and interval mathematics.
* Creating new map types that quantify information trustworthiness.
* Implementing improved filters for collaborative sensing, including person and object tracking.

Main Results:

* Preliminary results demonstrate the feasibility of novel integrity concepts.
* Development of trustworthiness-aware maps for enhanced navigation reliability.
* Initial validation of collaborative filtering for improved sensor fusion.

Conclusions:

* The i.c.sens research group is developing essential integrity concepts for autonomous driving.
* Proposed methods aim to enhance the reliability and safety of navigation in complex environments.
* Further research will focus on validating and integrating these advanced integrity and collaboration techniques.