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Converts GPS information to Localise2d.
Converts GPS data into Localise2d.
There are two problems here:
This is solved using the 'Offset' parameter, which specifies the coordinates of Gps2Localise2d's origin in the MapGrid coordinates. Gps2Localise2d will report all position estimates as an offset from that origin.
To get sane numbers, use the following procedure:
In more detail, gps2localise2d does the following to compute a pose:
It does this by: # - converting from lat/lon to a map-grid representation (currently assumes MGA), then # - subtracting the offset between the map-grid origin and the coordinate system (this offset must be configured manually), then # - subtracting the offset from the GPS antenna to the platform's centre (this is read from the GPS component).
The relationships between:
antenna ------->0 | / Loc2d ^ | / / Offset |/ / --->+----- / / Gps2L_CS / | / / | / /poseInMapGridCS |/ / MapGrid_CS +---- / \ / ----------
Gps2Localise2d.Config.Offset(Frame2d) [m, deg]
An example configuration file is installed into [ORCA-INSTALL-DIR]/share/orca/cfg/ directory.
Reports a single Gaussian, with the mean being the reported GPS position, and the x-y uncertainties being those reported by the GPS unit. Assumes that heading information is unreliable, so reports heading s.d. of 2*pi.
Just like "simple", but assumes that heading is calculated internal to the GPS unit by differentiating position. Heading is therefore most reliable when the platform is travelling fast and in a straight line. Odomtery information is used to make a better guesstimate at the heading uncertainty.
Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)