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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
| Code Block |
|---|
"vehicle": {
"type": "Automotive",
"vehicleStateEndpoint": "tcp://*:8999",
"settings": {
"canInterface": "PeakCAN",
"vehicleType": "R56"
}
} |
...
fusedVehiclePose (2D pose):Output equivalent to the LD filter output. Includes position in meters relative to starting point, global position (lon, lat) and heading.fusedPose (3D pose):relative to starting point, x, y (in meters) + z (output latitudeheight) + 3D orientation quaternionglobalFusedPose:globally referenced 3D position (longitude, latitude, height) + 3D orientation quaternion .in ENU frame
Output data format
FusedVehiclePose
| Code Block |
|---|
{
"fusedVehiclePose": {
"acceleration": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"globalPosition": {
"x": 0.0,
"y": 0.0
},
"lastDataTime": {
"timestamp": 0
},
"position": {
"x": 0.0,
"y": 0.0
},
"timestamp": {
"timestamp": 0
},
"utmZone": "31T",
"yaw": 0.0
}
} |
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 |
FusedPose
| 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 in ENU coordinate frame | without unit |
positionUnused | X, y position + height | m |
timestamp | Time of data acqusition | ns |
GlobalFusedPose
| Code Block |
|---|
{
"globalFusedPose" {
"orientation": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"timestamp": {
"timestamp": 0
},
"position": {
"longitude": 0.0,
"latitude": 0.0,
"height": 0.0
}
} |
Parameter name | Description | Unit |
|---|---|---|
orientation | Orientation quaternion | without unit |
position | Longitude, latitude, height | deg, deg, m |
timestamp | Time of data acqusition | ns |
Information regarding the ENU coordinate system is here: https://en.wikipedia.org/wiki/Local_tangent_plane_coordinates
Example Configuration
Playback and fusion of prerecorded data: gpsImuFusionPlayback.json
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