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IPNL-POLYU / UrbanNavDataset

UrbanNav:An Open-sourced Multisensory Dataset for Benchmarking Positioning Algorithms Designed for Urban Areas
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u-blox extrinsic info #20

Closed paaraujo closed 2 years ago

paaraujo commented 2 years ago

Hello @DarrenWong, do you have the extrinsic measurements from the u-blox receivers to the MTi and to the Reference?

DarrenWong commented 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.

paaraujo commented 2 years ago

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.

DarrenWong commented 2 years ago

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)

paaraujo commented 2 years ago

Alright, I didn't know about the splitter. I will test it, thank you!

paaraujo commented 2 years ago

Hi @DarrenWong , what about the lever arm between the FlexPak6 and the reference?

DarrenWong commented 2 years ago

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.

DarrenWong commented 2 years ago

I am closing the issue as it has no further updates. Please feel free to ask if have any questions.