Noise of navsat position horizontal in degree

gazebosim / gz-sensors

Provides numerous sensor models designed to generate realistic data from simulation environments.

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Noise of navsat position horizontal in degree #325

Open vincentrou opened 1 year ago

vincentrou commented 1 year ago

Description

Expected behavior: Setting noise in meters when using navsat/position_sensing/horizontal/noise/stddev as specified here : http://sdformat.org/spec?ver=1.9&elem=sensor#position_sensing_horizontal
Actual behavior: Setting noise in degrees : https://github.com/gazebosim/gz-sensors/blob/gz-sensors7/src/NavSatSensor.cc#L178

mjcarroll commented 1 year ago

@vincentrou I'm going to have to do some digging to see if the initial intent was to specify noise in terms of meters or degrees, and then we can either adjust the documentation or implementation.

I think in both cases (meters or degrees), we should probably be careful to attempt to match real-world noise models. I wouldn't expect to see uncorrelated noise in easting/north/up measurements with a GPS, but that may be a larger changeset required.

rachit-aggarwal commented 6 months ago

I noticed the same issue when trying to setup using Fortress. Wanted to see if there is any update on this?

Not sure, if it helps, I noticed that in the SDF documentation, the user is expected to prescribe noise in meters.