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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, If RTK-GPS is reqquired a standalone RTK gps GPS module can be used as a gps GPS input source as well.

CAN Bus Connection

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• PCAN USB interface

• Vector CAN USB interface

LPVR-POS Sensor Fusion Filter

Filter Inputs

Both the LD and the HD filter need the following sources as input. One option is to operate the filter with our LPMS-IG1P sensor that contains IMU and a GPS receiver. This allows for standard GPS absolute position accuracy. Relative accuracy and update rate are higher, based on odometry and IMU data. The other option is to use a separate RTK-GPS unit to get high accuracy RTK-GPS readings. We will look at how to set up an RTK-GPS system for LPVR-POS in a following chapter.

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As the filter relies heavily on GPS measurements it doesn’t deliver good results indoors. The better GPS reception, the better the resulting output of the filter. In it’s current state it therefore only works outdoors. In a future version that combines LD and HD filters, this issue will be resolved.

Notes on Filter Output

This Filter outputsThe HD filter outputs the following data:

• 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 (height) + 3D orientation quaternion

• globalFusedPose: globally referenced 3D position (longitude, latitude, height) + 3D orientation quaternion in ENU frame

Which filter output works best depends on your application. For augmented reality applications we reommend using globalFusedPose.

Notes on IMU Arrangement

The used car frame is the Volkswagen (VW) coordinate frame convention:

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Setting up the ImuToCarRotation parameter

This filter needs as input:

• LPMS-IG1P data source for IMU and GPS data

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Output data format

FusedVehiclePose

JSON

{
    "typefusedVehiclePose": "DualRtk", {
        "settingsacceleration": {
            "sensor1x": {0.0,
            // If specification needed, insert first IG1 sensor name here"y": 0.0,
            "z": 0.0
        },
        //"nameglobalPosition": {
   "ig1p232800650050"         "x": 0.0,
            "autodetectTypey": "ig1p"0.0
        },
        "rtcmlastDataTime": true,{
            "imuEndpointtimestamp": "tcp://*:8802" 0
        }
}

• Alternatively for case with separate IMU and RTK GPS sources (with NTRIP Caster for RTK correction)

"imu": {,
    "type": "OpenZen",   "settingsposition": {
    "autodetectType": "ig1"     } },  "RTCMx": {0.0,
      "type": "NTRIP",     "settingsy": {0.0
        "host": "some-host-name"},
        "porttimestamp": "2101", {
            "mountpointtimestamp": "some-mount-point",0
        "user": "some-user"},
        "passwordutmZone": "some-password31T",
        "userAgentyaw": "LPVR",0.0
    }
}

Protobuf

syntax =  "initialLatitudeproto3":;
35.65736,
package Fusion.proto;

message Vector2 {
  "initialLongitude": 139.73239,
 double x = 2;
  double y =  "forwardGnss":3;
}

truemessage Vector {
  }double },x 
"gnss": {= 2;
  double y  "type": "NMEA",
    "settings":= 3;
  double z = 4;
}

message FusedVehiclePose {
  int64 timestamp = 1;
   "port": "/dev/ttyUSB0",Vector2 position = 2;
  Vector2 global_position = 3;
  "baudrate": 115200,
 double yaw = 4;
  string utm_zone = 5;
"rtcm": true int64 timecode = 6; }
},

RTCM Source

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// Optional: if 0 not set.
  Vector acceleration = 7;
}

message StreamData {
  int32 sequence_number = 1;
  FusedVehiclePose fused_vehicle_pose = 9;
}

GNSS Source

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Parameter name

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Description

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Default

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type

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Data output format for gnss data source. Currently only NMEA is allowed.

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NMEA

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port

...

Serial port number for gnss source.

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baudrate

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Serial port baudrate to connect to gnss source.

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rtcm

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Set true to enable RTCM correction data forwarding from RTCM source to gnss module.

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false

CAN bus and vehicle decoder source

"vehicle": {
    "type": "Automotive",
    "vehicleStateEndpoint": "tcp://*:8999",
    "settings": {
        "canInterface": "PeakCAN",
        "vehicleType": "R56"
    }
}

Output data format

FusedVehiclePose

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FusedPose

JSON

{
	"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
        "y		},
		"timestamp": {
			"timestamp": 0.0
		}
      }
},
 

Protobuf

syntax = "proto3";

package Fusion.proto;

message Quaternion "timestamp": {
  double w = 1;
  double x = 2;
"timestamp": 0 double y = 3;
  double z },= 4;
}

message Vector {
  "utmZone": "31T",
 double x = 2;
  double y   "yaw": 0.0= 3;
  double z = }
}

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Parameter name

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Description

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Unit

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acceleration

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3D acceleration vector as measured by IMU. Describes the orientation of the vehicle.

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m/s^2

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globalPosition

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Longitude and latitude in degrees

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degrees

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lastDataTime

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Unused

...

s

...

position

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Position within UTM zone

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m

...

timestamp

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Timestamp of data acquisition

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ns

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utmZone

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UTM zone

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UTM string

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yaw

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Globally referenced yaw angle

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rad

FusedPose

{
	"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
		}
    }4;
}

message FusedPose {
  int64 timestamp = 1;
  Vector position = 2;
  Quaternion orientation = 3;
  Vector angular_velocity = 4;
  int64 timecode = 5; // Optional: if 0 not set.  
}

message StreamData {
  int32 sequence_number = 1;
  FusedPose fused_pose = 4;
}

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