Adjusting Localization for GNSS Device Positioned at Front Axle

[HandsomeAIccx]

Adjusting Localization for GNSS Device Positioned at Front Axle

[chenjian88888]

通常惯导设备的配置软件里面支持将输出定位点改为车上的其它位置

[daohu527]

@HandsomeAIccx We recommend that the positioning device is best installed at the center of the rear axle because the IMU will be as stable as possible as it is close to the center of gravity of the vehicle.

apollo/modules/transform/conf/static_transform_conf.pb.txt

Lines 15 to 20 in e373b20

	extrinsic_file {
	frame_id: "localization"
	child_frame_id: "imu"
	file_path: "/apollo/modules/localization/msf/params/imu_localization_extrinsics.yaml"
	enable: true
	}

Of course, if there is something special, you need to add the conversion from imu to localization. You need to measure the x, y, z, yaw, roll, and pith from the imu to the center of the rear axle of the vehicle, and then set the imu to localization conversion relationship.

[HandsomeAIccx]

@HandsomeAIccx We recommend that the positioning device is best installed at the center of the rear axle because the IMU will be as stable as possible as it is close to the center of gravity of the vehicle.

apollo/modules/transform/conf/static_transform_conf.pb.txt

Lines 15 to 20 in e373b20

	extrinsic_file {
	frame_id: "localization"
	child_frame_id: "imu"
	file_path: "/apollo/modules/localization/msf/params/imu_localization_extrinsics.yaml"
	enable: true
	}

Of course, if there is something special, you need to add the conversion from imu to localization. You need to measure the x, y, z, yaw, roll, and pith from the imu to the center of the rear axle of the vehicle, and then set the imu to localization conversion relationship.

Thank you for your assistance! However, I’m still unsure about the difference between a NovAtel system and an IMU. For instance, when using a LiDAR for obstacle detection, which coordinate system should be calibrated? Should the LiDAR be calibrated to the NovAtel system, or to the IMU?