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Package Summary

Tags No category tags.
Version 0.0.0
License TODO
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nkliuhui/sync_gps_lidar_imu_cam.git
VCS Type git
VCS Version master
Last Updated 2021-07-21
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The gps_driver package

Additional Links

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Maintainers

  • liuhui

Authors

No additional authors.
# 此驱动适用于 华测差分GPS 设备
# GPCHC数据 为设备内置算法融合得到的数据
# Can总线 得到的为 原始IMU数据 和 经纬度 及 解质量等问题 -- 其中仅涉及解析 IMU原始数据 和 经纬度
  (使用can 2.0协议)

Note: 
  1. GPCHC数据 的原始时间信息为 GPS的周秒形式, 将其解析成 秒的形式, 其相对于UTC时间快 +18s;
  2. GPRMC数据 的原始时间为UTC时间的 时分秒, 用于velodyne激光雷达的授时任务;
  3. UTC时间 +8h 得到北京时间, 一般计算机设定成北京时间
  4. 上述时间戳在赋值的时候均设定成北京时间, 其中GPCHC时间+8h, -18s; GPRMC时间在velodyne驱动中仅使用 分和秒, 时由计算机时间得到
  * 5. 综上, 此驱动在使用时, 需将 计算机时间与北京时间(网络时间即可)做一下同步

* GPS设备踩坑记录: 
  -- 设备安装时, lidar坐标系为X朝前, Y朝左, Z朝上; 
                GPS/IMU坐标系为手册中的默认设置, 天线前后放置, 定向(2号)的在前, 定位(1号)的在后, 接收设备标识的为Y朝前, X朝右, Z朝上;
  -- 串口得到的GPCHC融合数据中, Heading为车头与正北的夹角(所以顺时针转为正), pitch对应车身的俯仰(绕设备标识的X轴), roll对应车身的横滚(绕设备标识的Y轴);
  -- 融合后的数据中, 经纬度的参考点位为IMU的原点, GPS设备获得的车辆位姿中位置(经纬度)为IMU(载体系b)在WGS-84坐标系中的, 姿态为IMU(RFU, 右前上)在东北天(ENU, 导航系n)坐标系下的表示, 
     此时欧拉角 -> 旋转矩阵的方式(b/I系在n系的表示)为:
                        R^n_b = Rz(yaw) * Rx(pitch) * Ry(roll) , 其中 yaw = normalize(-Heading). 
  -- RTK失效标志, 判断GPCHC数据中系统的状态(组合导航 > 卫导 > 纯惯导 > 初始化) 和 解的质量(固定 > 浮点解 > 伪距 > 单点), 如刘辉使用的笔记本中$HOME/script/RTK_Analysis所示.
  
  
***********************************************
滤波后的IMU数据有误--忽略


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Recent questions tagged gps_driver at Robotics Stack Exchange

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