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LPMS-IG1P needs to be installled in the vehicle in a known orientation ideally with the coordinate axes of the the IMU parallel to the vehicle coordinate system. As a reference we are using the SAE coordinate system. Connect the USB connection of the sensor with the host computer. If needed an active or passive USB extension can be used. Make sure to check data integrity with the LpmsControl 2 data acquisition tool.
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Global Positioning System (GPS)
The GPS receiver is intergrated with the LPMS-IG1P sensor. Connect the antenna cable and place the GPS antenna on top of the vehicle.
CAN Bus Connection
FusionHub can be connected to the vehicle CAN bus by using one of the following CAN bus interfaces:
Low-dynamics Filter (Odometry + GPS + (some) IMU)
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| 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
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Parameter name | Description | Default |
|---|---|---|
type | Type of GPS receiver. Currently only | DualRTK |
name | The name of the IG1P sensor used in this setup. This parameter is optional. If FusionHub is operated at the same time with LPVR-DUO, we recommend specifying the sensor name. Look up the sensor name in LpmsControl 2. | n/a |
autodetectType | Type of sensor to be autodetcted | ig1p |
rtcm | Set to true if RTCM input is received eg. from an NTRIP source | false |
imuEndpoint | Output endpoint of IMU data. This parameter is optional. | tcp://*:8802 |
CAN bus and vehicle decoder source
| Code Block |
|---|
"vehicle": { "type": "Automotive", "vehicleStateEndpoint": "tcp://*:8999", "settings": { "canInterface": "canInterface": "PeakCAN", "vehicleType": "R56" } }"PeakCAN", "vehicleType": "R56" } } |
Parameter name | Description | Default |
|---|---|---|
type | Type of vehicle. Currently only | Automotive |
vehicleStateEndpoint | Endpoint for vehicle state output | tcp://*:8999 |
canInterface | CAN interface used for readin odometry data. Allowed options: | PeakCAN |
vehicleType | Type of vehicle. Currently supported vehicles have to be manually added. Contact us for details. | R56 (BMW Mini) |
This Filter outputs:
fusedVehiclePose
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