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Introduction
FusionHub is a software application that has the purpose of combining various sensor data inputs to create a higher level data output. There are 3 basic versions of FusionHub:
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// Sensor fusion config
"vehicularFusion": {
"echoFusedPose": false,
"endpoint": "tcp://*:8801",
"fuser": {
"fitModel": "SimpleCarModel",
"driveModel": "Differential",
"velError": 0.277777778,
"omegaError": 0.5,
"measurementError": 0.1,
"smoothFit": true
}
} |
This filter needs as input:
...
...
CAN bus and vehicle decoder source
This Filter outputs:
fusedVehiclePose (see description below)
Parameter name | Description | Default |
|---|---|---|
echoFusedPose | fusedVehiclePose output is printed to command line | false |
endpoint | Output port for the fusion result | 8801 |
fitModel | Model to use for fusion. At the moment only | SimpleCarModel |
driveModel | Model to use to calculate car trajectory from CAN bus data. At the moment only | Differential |
velError | Velocity error for Kalman filter. Keep default value. | 0.277777778 |
omegaError | Omega error for Kalman filter. Keep default value. | 0.5 |
measurementError | Measurement error for Kalman filter. Keep default value. | 0.1 |
smoothFit | Enable this option to prevent filter output from jumping between odometry data and GPS measurement. Keep enabled. | true |
This filter needs as input:
LPMS-IG1P data source for IMU and GPS data
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"imuP": { "type": "DualRtk", "settings": { "sensor1": { // If specification needed, insert first IG1 sensor name here //"name": "ig1p232800650050", "autodetectType": "ig1p" }, "rtcm": true, "imuEndpoint": "tcp://*:8802" } } |
CAN bus and vehicle decoder source
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"vehicle": {
"type": "Automotive",
"vehicleStateEndpoint": "tcp://*:8999",
"settings": {
"canInterface": "PeakCAN",
"vehicleType": "R56"
}
} |
This Filter outputs:
fusedVehiclePose
Output data format
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{
"fusedVehiclePose": {
"acceleration": {
"x": -0.4263402493894084,
"y": -0.14872631710022688,
"z": 9.790632347106932
},
"globalPosition": {
"x": 1.8985360999771979,
"y": 41.50585830111033
},
"lastDataTime": {
"timestamp": 0
},
"position": {
"x": 0,
"y": 0
},
"timestamp": {
"timestamp": 48347424440200
},
"utmZone": "31T",
"yaw": 0
}
} |
| Info |
Parameter name | Description | Unit |
|---|---|---|
acceleration | 3D acceleration vector as measured by IMU. Describes the orientation of the vehicle |
...
. | m/s^2 | |
globalPosition | Longitude and latitude in degrees | degrees |
lastDataTime | Ignore | s |
position | Position within UTM zone | m |
timestamp | Timestamp of data acquisition | ns |
utmZone | UTM zone | UTM string |
yaw | Globally referenced yaw angle | rad |
High-Dynamics Filter (IMU + GPS)
Node name: gnssImuFusion
Configuration block example (in sinks section)
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"gnssImuFusion": {
"echoFusedPose": false,
"endpoint": "tcp://*:8803",
"fuser": {
"fitModel": "ModelGnssImu",
"accelError": 0.01,
"omegaError": 0.02,
"measurementError": 0.05,
"imuToCarRotation": {
"w": 1,
"x": 0,
"y": -1,
"z": 0
}
}
} |
Parameter name | Description | Default |
|---|---|---|
echoFusedPose | fusedVehiclePose output is printed to command line | false |
endpoint | Output port for the fusion result | 8801 |
fitModel | Model to use for fusion. At the moment only | SimpleCarModel |
accelError | Model to use to calculate car trajectory from CAN bus data. At the moment only | Differential |
omegaError | Omega error for Kalman filter. Keep default value. | 0.5 |
measurementError | Measurement error for Kalman filter. Keep default value. | 0.1 |
imuToCarRotation | Orientation quaternion of IMU relative to car frame | 1, 0, -1, 0 |
This filter needs as input:
LPMS-IG1P data source for IMU and GPS data
| Code Block |
|---|
"imuP": {
"type": "DualRtk",
"settings": {
"sensor1": {
// If specification needed, insert first IG1 sensor name here
//"name": "ig1p232800650050",
"autodetectType": "ig1p"
},
"rtcm": true,
"imuEndpoint": "tcp://*:8802"
}
} |
CAN bus and vehicle decoder source
| Code Block |
|---|
"vehicle": {
"type": "Automotive",
"vehicleStateEndpoint": "tcp://*:8999",
"settings": {
"canInterface": "PeakCAN",
"vehicleType": "R56"
}
} |
This Filter outputs:
fusedVehiclePosefusedPose
Output data format
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{
"fusedVehiclePose": {
"acceleration": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"globalPosition": {
"x": 1.8982356601544925,
"y": 41.50544434418204
},
"lastDataTime": {
"timestamp": 0
},
"position": {
"x": -25.38332083641826,
"y": -36.403733501197635
},
"timestamp": {
"timestamp": 48910226723400
},
"utmZone": "31T",
"yaw": 0.1555754684457767
}
} |
Parameter name | Description | Unit |
|---|---|---|
acceleration | 3D acceleration vector as measured by IMU. Describes the orientation of the vehicle. | m/s^2 |
globalPosition | Longitude and latitude in degrees | degrees |
lastDataTime | Unused | s |
position | Position within UTM zone | m |
timestamp | Timestamp of data acquisition | ns |
utmZone | UTM zone | UTM string |
yaw | Globally referenced yaw angle | rad |
| Code Block |
|---|
{
"fusedPose": {
"lastDataTime": {
"timestamp": 0
},
"orientation": {
"w": 0.4437907292666558,
"x": 0.5659687502206026,
"y": -0.4749652416904733,
"z": 0.5070869566224411
},
"position": {
"x": -25.383320836418306,
"y": -36.403733501197166,
"z": 163.98272320756405
},
"timestamp": {
"timestamp": 48910226723400
}
}
} |
| Info |
Parameter name | Description | Unit |
|---|---|---|
| Unused | s |
| Orientation quaternion | n/a |
position | Unused | m |
timestamp | Time of data acqusition | ns |
Release Notes
Version 1.1
Release date: 2022/11/21
New graphical user interface
Added GPS-odometry fusion for automobile localization
Version 1.0
Release date: 2022/8/25
First full release
Added IMU-optical fusion