...
The GPS receiver is integrated with the LPMS-IG1P sensor. Connect the antenna cable and place the GPS antenna on top of the vehicle.
Alternatively, a standalone RTK gps module can be used as a gps input source as well.
CAN Bus Connection
FusionHub can be connected to the vehicle CAN bus by using one of the following CAN bus interfaces:
...
Parameter name | Description | Default |
|---|---|---|
type | Type of GPS receiver. Currently only | DualRTK |
name | The name of the LPMS-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 to be received eg. from an NTRIP source. | false |
imuEndpoint | Output endpoint of IMU data. This parameter is optional. | tcp://*:8802 |
Alternatively for case with separate IMU and RTK GPS sources (with NTRIP Caster for RTK correction)
| Code Block |
|---|
"imu": {
"type": "OpenZen",
"settings": {
"autodetectType": "ig1"
}
},
"RTCM": {
"type": "NTRIP",
"settings": {
"host": "some-host-name",
"port": "2101",
"mountpoint": "some-mount-point",
"user": "some-user",
"password": "some-password",
"userAgent": "LPVR",
"initialLatitude": 35.65736,
"initialLongitude": 139.73239,
"forwardGnss": true
}
},
"gnss": {
"type": "NMEA",
"settings": {
"port": "/dev/ttyUSB0",
"baudrate": 115200,
"rtcm": true
}
}, |
RTCM Source
Parameter name | Description | Default |
|---|---|---|
type | Type of RTCM correction data source. Currently only | NTRIP |
host | NTrip caster host. | 192.168.1.1 |
port | NTrip caster port. | 2101 |
mountpoint | NTrip mountpoint or stream to receive rtcm correction data. | |
user | NTrip caster username. | |
password | NTrip caster password. | |
userAgent | Name of user agent when connecting to NTrip caster. | LPVR-POS |
initialLatitude | Latitude to forward to Ntrip caster on first connect. | 0.0 |
initialLongitude | Longitude to forward to Ntrip caster on first connect. | 0.0 |
forwardGnss | Set true if gnss data from gnss source is to be forwarded to NTRIP caster. This is useful if Ntrip caster offers dynamic switching of RTCM correction data based on forwarded location. | false |
GNSS Source
Parameter name | Description | Default |
|---|---|---|
type | Data output format for gnss data source. Currently only | NMEA |
port | Serial port number for gnss source. | |
baudrate | Serial port baudrate to connect to gnss source. | |
rtcm | Set true to enable RTCM correction data forwarding from RTCM source to gnss module. | false |
CAN bus and vehicle decoder source
...