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65 unmanned systems inside April/May 2016 ENGINEERING. PRACTICE. POLICY. results. Integration of GNSS with inertial sig- nificantly improves solution availability and quality as compared to the GNSS-only option. Yet, in dense urban canyons it does not allow for lane-level positioning. In fact, position er- rors can grow to the level of 10 meters when the vehicle remains in urban canyon over a signifi- cant period of time (such as 5 minutes) and the GNSS signal availability is limited to one or two visible satellites. Finally, integration of carrier phase GNSS, monocular video-camera and vehicular mo- tion model (velocity constraints) was evaluated. The PnP software was automatically reconfig- ured for this sensor configuration using generic relative position observables (for GNSS carrier phase); velocity observables (for motion model); and, relative bearing observations for monocular video. Figures 16 and 17 show example test re- sults. Consistent lane-level positioning in urban canyons is demonstrated. These results directly support navigation requirements of connected cars for automotive safety applications. Additional References Plug and play sensor fusion: 1. Soloviev, A., Yang, C., "Reconfigurable Integration Filter Engine (RIFE) for Plug-and-Play Navigation," Proceedings of the 26th International Technical Meeting of The Satellite Division of the Institute of Naviga- tion (ION GNSS+ 2013), Nashville, TN, September 2013, pp. 2075-2083. 2. Groves, P.D., Wang, L., Walter, D., Martin, H., Voutsis, K., Jiang, Z., "The Four Key Challenges of Advanced Multisensor Navigation and Position- ing," Proceedings of IEEE/ION PLANS 2014, Monterey, CA, May 2014, pp. 773-792. Connected cards: 1. "U.S. Department of Transportation Announces Decision to Move For- ward with Vehicle-to-Vehicle Communication Technology for Light Ve- hicles," DOT press release, February 2014. 2. U.S. Department of Transportation, 2010: "Frequency of Target Crashes for IntelliDrive Safety Systems". Figure 16: Position solution of carrier phase GNSS integrated with consumer grade inertial, video-camera and motion constrains for test scenario 1; reliable lane-level trajectory reconstruction is achieved for the entire duration of the test Figure 17: Position solution of carrier phase GNSS integrated with consumer grade inertial, video-camera and motion constrains for test scenario 2 KEY INSIGHTS The design of a reconfigurable integration fi ltering engine (RIFE) and discussed its ap- plication for accurate positioning in GNSS-de- graded environments. Particularly, experimen- tal test results demonstrate that RIFE can be automatically reconfi gured for low-cost sensor confi gurations in order to enable lane-level ac- curate positioning in urban canyons thus sup- porting accuracy requirements of connected cars for automotive safety. Ongoing efforts include (i) confi guration of RIFE using higher- quality sensors for high-precision applications (centimeter to decimeter accuracy level) such as surveying, mapping and inspection in ur- ban environments and forestry areas; (ii) ap- plication for unmanned aerial vehicles; and, (iii) conversion of post-processing software modules into the real-time operation mode.