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Gps2Localise2d [Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX] Converts GPS information to Localise2d. More... Provides Home Localise2d [Gps2Localise2d.Provides.Localise2d] Status Requires Gps [Gps2Localise2d.Requires.Gps] Operation Converts GPS data into Localise2d. 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). Configuration Gps2Localise2d.Config.Driver (string) valid values are { "simple" , "odometrybased" } Gps2Localise2d.Config.Offset (Frame2d) [m, deg] Position of the Localise2d rood. system's origin w/r/t the mapgrid origin. Format: x y z roll pitch yaw (space separated) Default: 0.0 0.0 0.0 An example configuration file is installed into [ORCA-INSTALL-DIR]/share/orca/cfg/ directory. Drivers Simple 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. OdomteryBased 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. Requires: Odometry2d [Gps2Localise2d.Requires.Odometry2d] Authors Alex Brooks

Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)

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