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ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
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Adjusting Localization for GNSS Device Positioned at Front Axle #15315

Open HandsomeAIccx opened 6 months ago

HandsomeAIccx commented 6 months ago

Apollo seems to use the rear axle center as the reference point for localization and navigation. Assuming my GNSS device is located at the front axle of the vehicle, what should I do to ensure the localization data meets the requirements?

chenjian88888 commented 6 months ago

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 commented 6 months ago

@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. https://github.com/ApolloAuto/apollo/blob/e373b206a0dc0360af826152132a61c85cab295c/modules/transform/conf/static_transform_conf.pb.txt#L15-L20

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 commented 6 months ago

@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.

https://github.com/ApolloAuto/apollo/blob/e373b206a0dc0360af826152132a61c85cab295c/modules/transform/conf/static_transform_conf.pb.txt#L15-L20

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?