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Integrity and Collaboration in Dynamic Sensor Networks

1
Institut für Erdmessung, Leibniz Universität Hannover, 30167 Hannover, Germany
2
Institute of Cartography and Geoinformatics, Leibniz Universität Hannover, 30167 Hannover, Germany
3
Geodetic Institute, Leibniz Universität Hannover, 30167 Hannover, Germany
4
Institute of Photogrammetry and GeoInformation, Leibniz Universität Hannover, 30167 Hannover, Germany
5
Real Time Systems Group, Institute for Systems Engineering, Leibniz Universität Hannover, 30167 Hannover, Germany
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(7), 2400; https://doi.org/10.3390/s18072400
Received: 15 June 2018 / Revised: 14 July 2018 / Accepted: 19 July 2018 / Published: 23 July 2018
(This article belongs to the Special Issue GNSS and Fusion with Other Sensors)
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Abstract

Global Navigation Satellite Systems (GNSS) deliver absolute position and velocity, as well as time information (P, V, T). However, in urban areas, the GNSS navigation performance is restricted due to signal obstructions and multipath. This is especially true for applications dealing with highly automatic or even autonomous driving. Subsequently, multi-sensor platforms including laser scanners and cameras, as well as map data are used to enhance the navigation performance, namely in accuracy, integrity, continuity and availability. Although well-established procedures for integrity monitoring exist for aircraft navigation, for sensors and fusion algorithms used in automotive navigation, these concepts are still lacking. The research training group i.c.sens, integrity and collaboration in dynamic sensor networks, aims to fill this gap and to contribute to relevant topics. This includes the definition of alternative integrity concepts for space and time based on set theory and interval mathematics, establishing new types of maps that report on the trustworthiness of the represented information, as well as taking advantage of collaboration by improved filters incorporating person and object tracking. In this paper, we describe our approach and summarize the preliminary results. View Full-Text
Keywords: integrity; collaboration; GNSS; laser scanner; camera; interval mathematics; set theory integrity; collaboration; GNSS; laser scanner; camera; interval mathematics; set theory
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Schön, S.; Brenner, C.; Alkhatib, H.; Coenen, M.; Dbouk, H.; Garcia-Fernandez, N.; Fischer, C.; Heipke, C.; Lohmann, K.; Neumann, I.; Nguyen, U.; Paffenholz, J.-A.; Peters, T.; Rottensteiner, F.; Schachtschneider, J.; Sester, M.; Sun, L.; Vogel, S.; Voges, R.; Wagner, B. Integrity and Collaboration in Dynamic Sensor Networks. Sensors 2018, 18, 2400.

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