GNSS

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.

In this contribution, we aim to demonstrate the feasibility of applying the alternative integrity approach to autonomous navigation in terms of several key aspects, i.e., the handling of GNSS multipath effect in the urban environment, fault detection and exclusion, and further consideration of applying weighting models.

A joint contribution at 13th Summer Workshop on Interval Methods (SWIM)

Talk at 13th Summer Workshop on Interval Methods (SWIM)

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.

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.

for the paper entitled Deterministic approaches for bounding GNSS uncertainty: A comparative analysis

Talk at NAVITEC 2022, awarded best student presentation of the track Integrity and High-accuracy.

A new multi-sensory, multi-scenario, multi-vehicle measurement campaign in Hannover urban area, organized and conducted by a group of i.c.sens PhD students.

Talk at DGK PhD Seminar Hannover 2021.