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In Vangrid, ground truth is not a marketing term — it is a precisely defined data quality guarantee. Every observation labeled as ground truth was captured by physical sensors in the real world, corroborated by multiple independent nodes, and signed with a cryptographic hash that proves it hasn’t been altered. This distinguishes Vangrid’s output from inferred, modeled, or synthetic spatial data, which may be statistically plausible but cannot be independently verified.

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What ground truth means in Vangrid’s context

A ground truth observation in Vangrid meets three criteria:
  1. Physical capture — The observation originates from a real sensor in the real world at a specific location and time. No portion of the observation is generated by a model or interpolated from adjacent data.
  2. Multi-node corroboration — At least one additional independent node has captured a consistent observation of the same feature within the same spatiotemporal window. Single-node observations are returned with a low ground_truth_score and clearly marked as unconfirmed.
  3. Cryptographic provenance — The observation carries a provenance_hash generated on the originating node. The hash ties the observation to a specific device, timestamp, and content, giving you tamper-evident proof of its origin.
If any of these three criteria are not met, the observation is returned with a lower score or flagged in the response. Vangrid does not suppress low-confidence observations — it surfaces them with the metadata you need to decide whether to use them.

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How ground_truth_score is calculated

The ground_truth_score is a confidence metric between 0.0 and 1.0 that reflects the degree of multi-node corroboration for a given observation. The score increases as:
  • More independent nodes report consistent observations of the same feature
  • The contributing nodes use different sensor modalities (cross-modal agreement is weighted more heavily than same-sensor agreement)
  • The temporal spread between contributing observations is smaller (nodes that agree within milliseconds provide stronger corroboration than nodes that agree across minutes)
The score decreases when:
  • Only one node contributed to the observation
  • Contributing nodes disagree on position, classification, or velocity beyond the configured tolerance thresholds
  • One or more contributing nodes have a degraded hardware quality rating
A ground_truth_score of 1.0 does not mean certainty — it means the maximum corroboration achievable given the nodes that responded to your query. Always consider node_count alongside the score: a 1.0 from two nodes in a sparse area carries less weight than a 0.92 from fourteen nodes in a dense urban deployment.
The score is not a probability estimate — it is a normalized measure of corroboration strength. How you threshold it depends on your application’s tolerance for uncertainty. Common patterns:
Use caseRecommended minimum ground_truth_score
Archival or audit records0.5 — include with metadata for human review
Autonomous system inputs0.85 — high corroboration required for safety-critical decisions
Real-time situational awareness0.7 — balance between coverage and confidence
Historical analysis0.6 — broader inclusion for statistical work

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Ground truth vs. inferred and synthetic data

It is important to understand what Vangrid’s ground truth is not. Inferred data is produced by a model that estimates the state of a scene based on partial observations or prior patterns. For example, a system that predicts vehicle positions between sensor captures using a motion model is producing inferred data, not ground truth. Inferred data can be highly accurate, but it cannot be verified against a physical observation. Synthetic data is generated entirely by simulation or generative models. It is useful for training and testing, but it describes a virtual world, not the physical one. Vangrid does not mix inferred or synthetic observations into its ground truth responses. Every feature in a Vangrid API response either originated from a physical sensor or is explicitly flagged with a data_source value of interpolated (for gap-filled historical records) or estimated (for low-confidence single-node observations pending corroboration).
If you need synthetic or inferred data — for simulation environments, training datasets, or counterfactual analysis — Vangrid does not provide it. Vangrid’s value proposition is physical ground truth, not modeled approximations.

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How cryptographic provenance proves authenticity

Every observation in a Vangrid response includes a provenance_hash field. This hash is generated on the originating edge node using the node’s hardware-backed private key. It encodes:
  • The node’s unique identifier
  • The capture timestamp (GPS-synchronized, sub-second precision)
  • A SHA-256 hash of the observation’s feature payload
To verify a provenance_hash, you submit it to the Vangrid Provenance API along with the feature payload. The API checks the signature against the node’s public key and returns a verification result. If the payload was modified at any point after capture — in transit, in Vangrid’s infrastructure, or in your own systems — the verification will fail.
For defense, compliance, or auditing workflows, archive the provenance_hash alongside your application data at ingest time. You can verify the chain of custody months or years later without depending on Vangrid retaining the original observation.

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Real-time vs. historical ground truth

Vangrid supports two query modes, and the choice affects how you should interpret ground_truth_score and provenance_hash.
Real-time queries return observations captured within a short rolling window (typically the last few seconds to minutes). Because the aggregation window is short, some nodes may not have contributed yet when your response is assembled. This means:
  • node_count may be lower than what a historical query for the same time and place would show
  • ground_truth_score may be lower than it will be once all nodes have reported
  • The response is assembled quickly, but it reflects the network state at query time, not the fully-corroborated state
Use real-time ground truth when your application requires low latency — autonomous navigation, real-time fleet tracking, live situational awareness.
Historical queries retrieve observations from Vangrid’s provenance archive, where corroboration has had time to complete. For any given point in time, a historical query will typically return higher ground_truth_score values and higher node_count values than a real-time query for the same moment would have returned.Historical responses also include the full set of contributing node identifiers and their individual signed payloads — useful for audits or forensic reconstruction of a scene.Use historical ground truth for compliance records, incident investigation, training data generation, and any workflow where completeness matters more than latency.

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Example API response with ground truth fields

The following shows a single feature from a real-time spatial query. Note the ground_truth_score, provenance_hash, and supporting fields that together constitute a verified ground truth observation. 
{
  "feature_id": "feat_9b1e3c7d",
  "type": "Feature",
  "geometry": {
    "type": "Point",
    "coordinates": [-73.9857, 40.7484, 8.1]
  },
  "properties": {
    "classification": "person.pedestrian",
    "velocity_mps": 1.3,
    "heading_deg": 45.0,
    "captured_at": "2026-05-22T14:32:05.198Z",
    "ground_truth_score": 0.91,
    "provenance_hash": "sha256:c7f2a49d1e8b3056a7f2c49d1e8b3056c7f2a49d1e8b3056a7f2c49d1e8b30",
    "node_count": 4,
    "sensor_modalities": ["camera", "depth"],
    "data_source": "ground_truth",
    "corroboration_window_ms": 312
  }
}
Key fields in this response:
FieldValueWhat it tells you
ground_truth_score0.91High corroboration — 4 independent nodes agreed within 312ms.
provenance_hashsha256:c7f2...Cryptographic proof of origin. Submit to the Provenance API to verify.
node_count4Four independent nodes contributed to this observation.
sensor_modalities["camera", "depth"]Both camera and depth sensors agreed — cross-modal corroboration.
data_sourceground_truthThis is a physical observation, not interpolated or estimated.
corroboration_window_ms312All four nodes reported within 312 milliseconds of each other.
Last modified on May 22, 2026