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FusionHub BASE combines data from an outside-in tracking system with inertial measurements via an IMU.
IMU-Optical Fusion Filter
Configuration Block
Node name: fusion
| Code Block |
|---|
"fusion": {
"type": "ImuOpticalFusion",
"settings": {
"echoFusedPose": false,
"echoOpticalPose": true,
"runIntercalibration": true,
"Autocalibration": {
"minAgeS": 60.0,
"nSamplesForAutocalibration": 1500,
"nSamplesForSteady": 256,
"noiseRmsLimit": 0.02,
"steadyThresholdAverage": 0.2,
"steadyThresholdRms": 1.0
},
"MotionDetection": {
"omegaLimit": 2.0,
"positionSampleInterval": 1000,
"rotationFilterAlpha": 0.9,
"timeToUnknown": 500
},
"SensorFusion": {
"alignment": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"orientationWeight": 0.005,
"tiltCorrection": null,
"yawWeight": 0.01
}
}
} |
Parameter name | Description | Default |
|---|---|---|
type | ImuOpticalFusion | |
echoFusedPose | false | |
echoOpticalPose | false | |
runIntercalibration | true | |
minAgeS | 60.0 | |
nSamplesForAutocalibration | 1500 | |
nSamplesForSteady | 256 | |
noiseRmsLimit | 0.02 | |
steadyThresholdAverage | 0.2 | |
steadyThresholdRms | 1.0 | |
omegaLimit | 2.0 | |
positionSampleInterval | 1000 | |
rotationFilterAlpha | 0.9 | |
timeToUnknown | 500 | |
alignment | 1, 0, 0, 0 | |
orientationWeight | 0.005 | |
tiltCorrection | false | |
yawWeight | 0.01 |
This filter needs as input:
Optical tracking source
IMU source
This Filter outputs:
fusedPose
Output Data Format
| Code Block |
|---|
{
"fusedPose": {
"lastDataTime": {
"timestamp": 0
},
"orientation": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"position": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"timestamp": {
"timestamp": 0
}
}
} |
Parameter name | Description | Unit |
|---|---|---|
lastDataTime | Unused | s |
orientation | Orientation quaternion | without unit |
position | Unused | m |
timestamp | Time of data acqusition | ns |
Source Options
Optical Tracking Source Options
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FusionHub works with all ART tracking systems, based on their DTrack tracking software.
| Code Block |
|---|
"type": "DTrack",
"settings": {
"port": 5005,
"bodyID": 3,
"endpoint": "inproc://optical_data_source_1"
} |
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FusionHub works with all Optitrack tracking systems based on their Motive tracking software.
| Code Block |
|---|
"type": "Optitrack",
"settings": {
"host": "localhost",
"connectionType": "Multicast",
"bodyID": 444
} |
VICON
FusionHub consumes VICON’s VICON’s DataStream protocol. Communication has been tested with their Shogun software.
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FusionHub connects directly to Antilatency’s Antilatency’s USB or wireless trackers.
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IMU Source
FusionHub supports all LP-RESEARCH IMUs. We also offer support for VICON Bluetooth IMUs
See a description on how to prepare LPMS-IG1 for operation with FusionHub further below.
LPMS-IG1
| Code Block |
|---|
"imu": {
"type": "OpenZen",
"settings": {
"autodetectType": "ig1"
}
} |
LPMS-CURS3
| Code Block |
|---|
"imu": {
"type": "OpenZen",
"settings": {
"autodetectType": "lpms"
}
} |
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MOVE Filter Configuration
FusionHub MOVE adds an additional platform IMU to the BASE configuration. It combines data from both IMUs to calculate poses relative to a moving platform.
FLOW Filter Configuration
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Low-dynamics Filter (Odometry + GPS + (some) IMU)
Configuration Block
Node name: vehicularFusion
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This Filter outputs:
fusedVehiclePose
Output Data Format
| Code Block |
|---|
{
"fusedVehiclePose": {
"acceleration": {
"x": -0.42634024938940840,
"y": -0.148726317100226880,
"z": 90.7906323471069320
},
"globalPosition": {
"x": 10.89853609997719790,
"y": 410.505858301110330
},
"lastDataTime": {
"timestamp": 0
},
"position": {
"x": 0,
"y": 0
},
"timestamp": {
"timestamp": 483474244402000
},
"utmZone": "31T",
"yaw": 0
}
} |
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| Code Block |
|---|
"gnssImuFusion": {
"echoFusedPose": false,
"endpoint": "tcp://*:8803",
"fuser": {
"fitModel": "ModelGnssImu",
"accelError": 0.01,
"omegaError": 0.02,
"measurementError": 0.05,
"imuToCarRotation": {
"w": 1,
"x": 0,
"y": -10,
"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, -10, 0 |
This filter needs as input:
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| Code Block |
|---|
{
"fusedVehiclePose": {
"acceleration": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"globalPosition": {
"x": 10.89823566015449250,
"y": 410.505444344182040
},
"lastDataTime": {
"timestamp": 0
},
"position": {
"x": -250.383320836418260,
"y": -360.4037335011976350
},
"timestamp": {
"timestamp": 489102267234000
},
"utmZone": "31T",
"yaw": 0.15557546844577670
}
} |
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": 1.0.4437907292666558,
"x": 0.56596875022060260,
"y": -0.47496524169047330,
"z": 0.50708695662244110
},
"position": {
"x": -250.3833208364183060,
"y": -360.4037335011971660,
"z": 1630.982723207564050
},
"timestamp": {
"timestamp": 489102267234000
}
}
} |
Parameter name | Description | Unit |
|---|---|---|
lastDataTime | Unused | s |
orientation | Orientation quaternion |
without unit | ||
position | Unused | m |
timestamp | Time of data acqusition | ns |
Example Configuration
Playback and fusion of prerecorded data: gpsImuFusionPlayback.json
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