Page Comparison

...

Parameter name

Description

Default

type

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

NMEA

port

Serial port number for gnss source.

baudrate

Serial port baudrate to connect to GNSS source.

For Linux this parameter needs to be in format /dev/ttyXXX
For Windows it is COMxxx

/dev/ttyUSB0

rtcm

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

false

...

`COMxxx`
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

For details about the overall configuration of the RTK-GPS system refer to this section.

GNSS Output Format

JSON

Code Block

"gnssData": {
    "altitude": 0.0,
    "hdop": 0.0,
    "heading": 0,
    "latitude": 0.0,
    "longitude": 0.0,
    "height": 0.0,
    "nSat": 0,
    "orientation": {
        "w": 1.0,
        "x": 0.0,
        "y": 0.0,
        "z": 0.0
    },
    "quality": 0,
    "sensorName": "",
    "timestamp": 0,
    "tmg": 0.0,
    "undulation": 0.0
}

Protobuf

Code Block

message GnssData {
    int64 timestamp = 1;
    double latitude = 3;
    double longitude = 4;
    double period = 5;
    int32 frame_count = 6;
    double latency = 8;
    string sensor_name = 11;
    Quaternion orientation = 12;
    double height = 13;
    double vertical_accuracy = 14;
    double horizontal_accuracy = 15;
    int32 quality = 16;
    int32 n_sat = 17;
    double hdop = 18;
    double tmg = 19;
    double heading = 20;
    double altitude = 21;
    double undulation = 22;
}

Important Output Data

Parameter name	Description	Unit
timestamp	Timestamp of current GNSS data	nanoseconds (in case GPS time is used as clock this is the duration since start of the day in UTC time)
longitude	Longitude part of GPS position	degree
latitude	Latitude part of GPS position	degree
height	The height of the receiver above the earth surface reference ellipsoid	m
quality	Quality of the GPS signal: 0: Fix not valid 1: GPS fix 2: Differential GPS fix 3: Not applicable 4: RTK fixed 5: RTK float 6: INS Dead reckoning	n/a (comment: for RTK enabled systems RTK fix provides the highest cm accuracy. If this quality can’t be reached, the number of visible satellites or connection to base station might be an issue.)

Odometry

The vehicle source is the data source that reads raw CAN data messages from a given CAN bus interface and parses the vehicle data using to the provided CAN protocol.

...

Configuration example

Code Block

    "vehicle": {
      	"type": "Automotive",
      	"vehicleStateEndpoint": "tcp://*:8999",
      	"settings": {
        		"canInterface": "Internal",
        		"canEndpoint": "tcp://localhost:9921",        
        		"vehicleType": "Minimal",
        		"canProtocol": {
          			"velocityCanId": 209,
          			"velocityScale": 0.015625012,
          			"endianness": "little",
          			"velocityBitsLength": 16,
          			"velocityStartBit": 0
        }
      }
   		}
	}
}

Vehicle Parsing with Separate Wheel Velocities
Anchor
Vehicle-Parsing-with-Separate-Wheel-Velocities
Vehicle-Parsing-with-Separate-Wheel-Velocities

...

Configuration example

Code Block

    "vehicle": {
      	"type": "Automotive",
      	"vehicleStateEndpoint": "tcp://*:8999",
      	"settings": {
        		"canInterface": "PeakCAN",
        		"canEndpoint": "tcp://localhost:9921",
        		"vehicleType": "External",
        		"wheelBase": 2.750,
        		"trackWidth": 1.595,
        		"canProtocol": {
          			"velocityCanId": 212,
          			"velocityScale": 0.015625012,
          			"endianness": "little",
          			"velocityStartBits": {
            "FrontLeftWheel": 0,
            				"FrontLeftWheel": 0,
				"FrontRightWheel": 16,
            				"RearLeftWheel": 32,
            				"RearRightWheel": 48
          			}  
        }
      }
    		}
	}
}

Additional Parameters

Gear Stick Position for Velocity Sign

...

Configuration template

"vehicle": { ... "settings": { ... "vehicleType": "External", ... "canProtocol

Code Block

"vehicle": { ... "settings": { ... }, "vehicleType": "External", "canProtocol": { "gearCanId": 1, "gearStartBit": 2, "gearBitslength": 3, "gearReverseValue": 4 } } } } }

Steering information for Ackermann model

...

The steeringTable configuration block would look something like below.

Code Block

    "vehicle": {
    ...
      	"settings": {
      	...       
        		"vehicleType": "ExternalWithSteering",
        ...
        		"canProtocol": {
        			...
          		},
        		
		"steeringTable": {
            			"steeringWheelAngles": [
            			  -360, -340, -320, -300,
            			  ...
			              300, 320, 340, 360],
		          "wheelAngleType": "Right",
       		   "wheelAngles": [
            			-30.0, -25.5, -20.0, -15.0,
            			...
            			19.0, 26.0, 35.5, 40.0 ]
        }
        }
      }
   		}
	}
}

Predefined Vehicle Parsing

...

See a technical description of FusionHub’s communication interface in one of the following chapters.

JSON

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,
            "y": 0
        },
        "timestamp": {
            "timestamp": 0
        },
        "utmZone": "31T",
        "yaw": 0
      }
}

Protobuf

Code Block

syntax = "proto3";

package Fusion.proto;

message Vector2 {
    double x = 2;
    double y = 3;
}

message Vector {
    double x = 2;
    double y = 3;
    double z = 4;
}

message FusedVehiclePose {
    int64 timestamp = 1;
    Vector2 position = 2;
    Vector2 global_position = 3;
    double yaw = 4;
    string utm_zone = 5;
    int64 timecode = 6; // Optional: if 0 not set.    
    Vector acceleration = 7;
}

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

...

The high dynamics filter works well for scenarios with agressive driving maneuvers such as drifting and cornering. During such maneuvers the turning motion of the wheels generally doesn’t directly correspond with the direction of the vehicle. Therefore for this filter doesn’t rely on wheel velocity measurements for localization like the low-dynamics (LD) filter. This filter uses information from the wheels to determine if the car has come to a full stop.

...

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

...

You can find more information regarding the ENU coordinate system here.

Notes on IMU Arrangement

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

...

And the orientation quaternion woud be [w, x, y, z, w] = [ 0, 0, 0, 1 , 0 ] which can be specified in the configuration like below:

Code Block
"imuToCarRotation": { "w": 0, "x": 0, "y": 0, "z": 1 }

Check this page for more information on how to calculate the orientation quaternion.

Note: The orientation of the IMU for a unity quaternion [ 1, 0, 0, 0 ] would be

Code Block
IMU mounting x: backwards y: right z: up

Configuration Block

Insert the following configuration block into your config.json file in the sinks section to activate the HD filter. The filter's node name is gnssImuFusion.

..

Code Block

..
  "sinks": {
    ..,
    "gnssImuFusion": {
        "echoFusedPose": false,
        "endpoint": "tcp://*:8803",
        "sinksfuser": {
     ..,       "gnssImuFusionfitModel": {"ModelGnssImu",
            "echoFusedPoseaccelError": false,0.01,
            "endpointomegaError": "tcp://*:8803"0.02,
            "measurementError": 0.05,
            "fuserimuToCarRotation": {
                "fitModelw": 1,
 "ModelGnssImu",               "x": 0,
                "accelErrory": 0.01,
,
                "z": 0
           "omegaError": 0.02 },
            "measurementErroroutputWhenFilterNotReady": 0.05false,
            "imuToCarRotationretainStateWhenStopped": {
   true,
            "wsmoothFit": 1true,
   
            "xglobalOrigin": 0,{
                "ylongitude": 0139.73226516666668,
                "zlatitude": 035.657632
            }
        }
    }
..

See below a description of the parameter options for the HD filter.

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.	ModelGnssImu
accelError	Acceleration error for Kalman filter. Keep default value.	0.01
omegaError	Omega error for Kalman filter. Keep default value.	0.02
measurementError	Measurement error for Kalman filter. Keep default value.	0.05
imuToCarRotation	Orientation quaternion of IMU relative to car frame	1, 0, 0, 0
smoothFit	Enable this option to prevent filter output from jumping between IMU data and GPS measurement. Keep enabled.	true
singleEndpoint	If enabled, the different fusion output messages will be published to the same port `"endpoint"` If disabled, the `"endpoint"` parameter above, is the output port for the `FusedVehiclePose` msg type only.	true
poseEndpoint	Output port for the `FusedPose` msg type.	`8804` if `singleEndpoint=false`
globalPoseEndpoint	Output port for the `GlobalFusedPose` msg type.	`8805` if `singleEndpoint=false`
outputRawGnssData	Publishes raw Gnss data position instead of the fusion output. Useful for debugging.	false
outputWhenFilterNotReady	Publishes a temporary raw Gnss data output while the filter is initializing. Useful for a minimal sanity check before moving the vehicle.	false
retainStateWhenStopped	If the vehicle is detected to be stationary by looking at data from CAN bus, then the current filter state (position, rotation etc.) will be automatically retained until motion is detected.	true
globalOrigin	A global position as longitude and latitude: For `fusedPose` output this will be the starting point. All position outputs will be relative to this point.	{ 0, 0 }

Output Data Format

FusedVehiclePose

JSON

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
    }
}

Protobuf

Code Block

syntax = "proto3";

package Fusion.proto;

message Vector2 {
  double x = 2;
  double y = 3;
}

message Vector {
  double x = 2;
  double y = 3;
  double z = 4;
}

message FusedVehiclePose {
  int64 timestamp = 1;
  Vector2 position = 2;
  Vector2 global_position = 3;
  double yaw = 4;
  string utm_zone = 5;
  int64 timecode = 6; // Optional: if 0 not set.
  Vector acceleration = 7;
}

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

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

JSON

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 } } }

Protobuf

Code Block

syntax = "proto3";

package Fusion.proto;

message Quaternion {
  double w = 1;
  double x = 2;
  double y = 3;
  double z = 4;
}

message Vector {
  double x = 2;
  double y = 3;
  double z = 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;
}

Parameter name	Description	Unit
lastDataTime	Unused	s
orientation	Orientation quaternion in ENU coordinate frame	without unit
position	X, y position + height	m
timestamp	Time of data acqusition	ns

GlobalFusedPose

JSON

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 } } }

Protobuf

Code Block

syntax = "proto3";

package Fusion.proto;

message Quaternion {
  double w = 1;
  double x = 2;
  double y = 3;
  double z = 4;
}

message GpsPoint {
  double longitude = 2;
  double latitude = 3;
  double height = 4;
}

message GlobalFusedPose {
  int64 timecode = 5; // Optional: if 0 not set.
  int64 timestamp = 1;
  GpsPoint position = 2;
  Quaternion orientation = 3;
}

message StreamData {
  int32 sequence_number = 1;
  GlobalFusedPose global_fused_pose = 10;
}

...

Version	Old Version 31	New Version Current
Changes made by	Klaus Petersen	Klaus Petersen
Saved on	Dec 19, 2023	Dec 11, 2024

Versions Compared

Key

GNSS Output Format

JSON

Protobuf

Important Output Data

Odometry

Configuration example

Vehicle Parsing with Separate Wheel Velocities
Anchor
Vehicle-Parsing-with-Separate-Wheel-Velocities
Vehicle-Parsing-with-Separate-Wheel-Velocities

Configuration example

Additional Parameters

Gear Stick Position for Velocity Sign

Configuration template

Steering information for Ackermann model

Predefined Vehicle Parsing

JSON

Protobuf

Notes on IMU Arrangement

Configuration Block

Output Data Format

FusedVehiclePose

JSON

Protobuf

FusedPose

JSON

Protobuf

GlobalFusedPose

JSON

Protobuf

Page Comparison

Versions Compared

Key

GNSS Output Format

JSON

Protobuf

Important Output Data

Odometry

Configuration example

Vehicle Parsing with Separate Wheel Velocities AnchorVehicle-Parsing-with-Separate-Wheel-VelocitiesVehicle-Parsing-with-Separate-Wheel-Velocities

Configuration example

Additional Parameters

Gear Stick Position for Velocity Sign

Configuration template

Steering information for Ackermann model

Predefined Vehicle Parsing

JSON

Protobuf

Notes on IMU Arrangement

Configuration Block

Output Data Format

FusedVehiclePose

JSON

Protobuf

FusedPose

JSON

Protobuf

GlobalFusedPose

JSON

Protobuf

Vehicle Parsing with Separate Wheel Velocities
Anchor
Vehicle-Parsing-with-Separate-Wheel-Velocities
Vehicle-Parsing-with-Separate-Wheel-Velocities