Closed paaraujo closed 2 years ago
Dear paaraujo, you can get extrinsic from here https://github.com/IPNL-POLYU/UrbanNavDataset/blob/c95e9bce7cbf444a2e95765ac59409c66e7acb09/UrbanNav-HK-Medium-Urban-1/extrinsic.yaml#L60
Be noted that the extrinsic between the antenna and the reference frame is measured manually with an accuracy of within 5 centimeters. You can optimize the translation by comparing the RTK fixed results and the output from the ground truth.
I didn't find anything related to the u-blox sensors, that is why I asked. According to the drawing shown on the front page, there is a lever arm as well. However, it is a good idea to use the output of the RTKLib to estimate that. Thank you.
We only calibrate one average result of all the antenna of receivers in front of the vehicle based on the Y-axis and Z-axis.
And we also provide a measurement from ublox f9p which shares the same antenna (rear of the vehicle) with Ground truth with the name " f9p.splitter", the approximate lever arm (GNSS->Reference) is x=0.000, y=-0.560, z=-0.070 m (x-right, y-fwd, z-up)
Alright, I didn't know about the splitter. I will test it, thank you!
Hi @DarrenWong , what about the lever arm between the FlexPak6 and the reference?
The same as the F9P splitter, x=0.000, y=-0.560, z=-0.070 m (x-right, y-fwd, z-up). We use a GNSS splitter to receive the measurements and then split them to F9P, FlexPak6, and GroundTruth.
I am closing the issue as it has no further updates. Please feel free to ask if have any questions.
Hello @DarrenWong, do you have the extrinsic measurements from the u-blox receivers to the MTi and to the Reference?