1. Manuals
  2. Brands
  3. FixPosition Manuals
  4. Security Sensors
  5. Vision-RTK 2
  6. Integration manual

FixPosition Vision-RTK 2 Integration Manual

Fixposition positioning sensor
Hide thumbs Also See for Vision-RTK 2:
Table of Contents

Advertisement

Quick Links

Download this manual
Vision-RTK 2
Fixposition Positioning Sensor
INTEGRATION MANUAL
VERSION 2.2.2
Abstract: This document explains how to integrate the Vision-RTK 2 positioning sensor into a
host system and provides comprehensive details on how to configure it to obtain the maximum
www.fixposition.com
support@fixposition.com
positioning accuracy.
precise global positioning everywhere

Advertisement

Table of Contents
loading

Related Manuals for FixPosition Vision-RTK 2

Summary of Contents for FixPosition Vision-RTK 2

  • Page 1 Vision-RTK 2 Fixposition Positioning Sensor INTEGRATION MANUAL VERSION 2.2.2 Abstract: This document explains how to integrate the Vision-RTK 2 positioning sensor into a host system and provides comprehensive details on how to configure it to obtain the maximum positioning accuracy. www.fixposition.com precise global positioning everywhere support@fixposition.com...

  • Page 2: Document Information

    Document information Title Fixposition Vision-RTK 2 Document type Integration manual Version number 2.2.2 Published Date February 23, 2024 Disclosure restriction Confidential/NDA Product status Production...

  • Page 3: Glossary

    Real Time Kinematics Library RTCM Radio Technical Commission for Maritime Services SubMiniature version A Transmission Control Protocol UART Universal Asynchronous Receiver-Transmitter Unmanned Aerial Vehicle Universal Serial Bus Universal Time Coordinate Virtual Reference Station VRTK2 Vision-RTK 2 WGS-84 World Geodetic System 1984...

  • Page 4: Table Of Contents

    4.1.1. Guidelines for antenna selection ..... . 14 4.1.2. Powered by Vision-RTK 2 ......14 4.1.3.
  • Page 5 5.7.2. Verifying Fixposition CAN message configuration ... . 48 5.7.3. Fixposition I/O wheelspeed sensor ....49 5.8.

  • Page 7: Vision-Rtk 2 Notices

    WEEE Notice If you purchased your Vision-RTK 2 product in Europe, please return it to your dealer or supplier at the end of its life. The objectives of Fixposition’s environment policy are, in particular, to preserve, protect and improve the quality of the environment, protect human health, and utilize natural resources prudently and rationally.

  • Page 8: Fcc

    To maintain compliance with the limits of a Class B digital device, you must use shielded interface cables. The Vision-RTK 2 has been authorized for use in Mobile applications. At least 20 cm (8 in) of separation between the Vision-RTK 2 and the User must be maintained at all times.

  • Page 9: Environmental Certifications

    1.4. Environmental certifications IP66 The Vision-RTK 2 is certified as IP66 (i.e., dust and water-resistant). This certification was granted after the sensor had been exposed to the following tests: Temperature cycling (IEC60068-2-14 Na): 200 cycles, -30 C to 85 C, hold time of 30 minutes per temperature.

  • Page 10: System Description

    HAPTER System description 2.1. Overview The Vision-RTK 2 is a high-end sensor fusion solution that provides real-time high-accuracy pose information in all scenarios, including GNSS degraded and denied environments. The system includes two multi-frequency Real-Time Kinematics (RTK) GNSS receivers for instant heading calculation after initialization, an embedded camera, and an Iner- tial Motion Unit (IMU) to provide continuous high-accuracy positioning even in extended GNSS outages.

  • Page 11: High-Precision Sensor Fusion

    GNSS outages. 2.3. Supported dynamics models Vision-RTK 2 supports several navigation modes to adjust to different platforms’ specific dynamics. These modes capture the data streams from the selected vehicle type and tune the sensor fusion algorithm to improve performance based on the platform restric- tions.

  • Page 12: Technical Information

    HAPTER Technical Information 3.1. System indicators The Vision-RTK 2 has three LEDs to indicate the current status of the sensor. Green: System running Amber: System activity (intermittent blinking) Red: Not in use 3.2. Physical connectors 3.2.1. Connectors overview Figure 3.1.: Vision-RTK 2 connectors overview Note: The Vision-RTK 2 exists in two variants.

  • Page 13: Ethernet

    This behavior applies to all sensors with version number 1B or later (Refer to the label on the sensor). For sensors with no version number or version number 1A, the pin must be high during operation ( 3V) and low to shut down the sensor. Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 14: Aux Connector

    Main power input Table 3.3.: Power connector pin definition 3.2.6. GNSS connector The Vision-RTK 2 contains two GNSS receivers that can connect to an antenna via the female SMA connectors labeled GNSS 1 and GNSS 2. 3.2.7. Wi-Fi connector The Vision-RTK 2 can significantly increase its Wi-Fi range by connecting a Wi-Fi antenna to the female RP-SMA connector labeled Wi-Fi.

  • Page 15: Usb (Type-C)

    3.2.8. USB (Type-C) The Vision-RTK 2 contains a USB-C port to connect an external drive for data recording (see Section 5.9). After FW 2.63, the user can also use this port to access the recovery mode. (see Subsection 5.2.5). Note that the USB-C port must only be used as a service interface, not during operation.

  • Page 16: Fixposition Logo Position

    Users can request a STEP file of the sensor’s housing to enhance the integration of the Vision-RTK 2 into their platform. This file provides a detailed and comprehensive representation of the sensor’s physical design, allowing for seamless integration.

  • Page 17: Enclosure Measurement

    3.2.11. Enclosure measurement Figure 3.8.: Dimensions of the Vision-RTK 2’s enclosure Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 18: Installation Guidelines

    Mount the Vision-RTK 2 firmly/rigidly to the vehicle’s body. Attach the GNSS antennas to the same rigid body as the Vision-RTK 2, their rel- ative positions must remain unchanged. Please carefully follow the antenna man- ufacturer’s installation guidelines and comply with their requirements to minimize...
  • Page 19 (> 25 km). In this case, please choose a different NTRIP mountpoint or re-connect to the VRS service. GNSS antenna placement with respect to the Vision-RTK 2 sensor can have various impacts on performance. We recommend always placing the sensor at any point between the two GNSS antennas to avoid any lever arms effects or within an ellipse, as shown in Figure 4.3.

  • Page 20: Guidelines For Antenna Selection

    The Vision-RTK 2 actively monitors antenna power consumption. To ensure the safety of both the Vision-RTK 2 and GNSS receivers, antenna power is turned off when a short circuit is detected. This detection mechanism functions by capping the current drawn by the antenna.

  • Page 21: Other Considerations

    Ensure the voltage and current ratings are compatible with your GNSS antenna’s requirements. Connect Vision-RTK 2: Connect the RF input of the bias tee to the Vision-RTK 2’s GNSS1 or GNSS2 connector. Supply power: Turn on the DC power source to inject power into the RF line and feed the GNSS antenna.

  • Page 22: Maintenance Procedure

    Ensure the sensor and the GNSS antennas are firmly attached to the structure and rigid with respect to each other. Secure all unused connectors with protective caps (see Figure 4.4). Figure 4.4.: Vision-RTK 2’s connectors secured with protective caps Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 23: Sensor Configuration

    Sensor Configuration 5.1. Web interface overview To configure the Vision-RTK 2 and visualize the current trajectory, the user can access the web interface through a browser using the IP 10.0.1.1 with a direct Wi-Fi connection or 10.0.2.1 with a direct Ethernet connection. Note that these IP addresses only apply when the sensor is configured as the DHCP server or using its access point directly.
  • Page 24 Plot Line  20 m 20 m Leaflet | Map data © OpenStreetMap, Imagery © Mapbox State estimate  Output StdDev Position  Orientation Velocity (2d) Figure 5.2.: Home page of the web interface Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 25: Network Configuration

    Actions access-point 10.0.1.1/24   Connected Default Ethernet Default route Connected Connection Actions dhcp-client 172.22.1.29/20   Connected Default dhcp-server   static-ip   Figure 5.3.: Networking configuration page in the web interface Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 26: Network Specifications

    Currently, we only support one band at a time, meaning the access point and the hotspot should operate at the same frequency. Figure 5.4.: Wi-Fi interface configuration options The table below summarizes all available network configurations for the Vision-RTK 2: Network Sensor IP...

  • Page 27: Default Route

    Wi-Fi channels and uses only those valid in the region). Most Wi-Fi 6E access points are configured using 802.11ax by default, which the Vision-RTK 2 does not support. The user must change the configuration to one of our supported bands.

  • Page 28: Network Data Ports

    8.8.8.8 – Checking internet connectivity. While the remote support functionality is enabled: reflector.sensor.fixposition.com – Secure reflector server The web interface (i.e., the client browser, not the Vision-RTK 2 itself) connects to: api.mapbox.com - Map data used on the Fusion status page. Vision-RTK 2 |...

  • Page 29: Usb Recovery Network

    5.2.5. USB recovery network When connected to a PC, the USB port on the Vision-RTK 2 acts as a "USB Ethernet gadget." The PC sees a network interface similar to a USB-to-ethernet dongle. The PC should automatically detect the network interface and configure it. This way, the user can access the web interface via http://10.0.3.1 to change the configuration.

  • Page 30: Network Time Protocol (Ntp)

    Vision-RTK 2’s built-in NTP server (port 123). Notes: The NTP server of the Vision-RTK 2 can provide a clock signal accurate up to the sub-millisecond using a direct Ethernet connection, as the time information provided will be based on GNSS data.
  • Page 31 BMCA is disabled so each device is statically assigned as master or slave. Tests have shown that the precision of the time synchronization with the Vision-RTK 2 using PTP is sub-microsecond. The time accuracy is based on the time provided by the GNSS receiver and is approximately 3us on the sensor with good GNSS reception.

  • Page 32: Pulse Per Second (Pps)

    20010. At most, the maximum time mark frequency is 5 Hz. To read the PPS signal from a Vision-RTK 2, the user must use a microcontroller or a similar device to read these signals. This process involves connecting the PPS output from the Vision-RTK 2 to a GPIO (General Purpose Input/Output) pin on the user’s mi-...

  • Page 33: Input/Output System Overview

    RTCM3 messages Figure 5.9.: Input/output system overview The Vision-RTK 2 provides multiple input and output data stream options. This section provides an overview of the I/O system. Note the distinction between: Port: Physical (e.g., UART) or logical (e.g., network socket) connection endpoint.

  • Page 34: Uart Port Configuration

    The user can input the wheelspeed sensor and RTCM3 correction data streams into the Vision-RTK 2 via UART (see Section 5.7 and Section 5.5, respectively). The Vision-RTK can stream the output messages (e.g., FP odometry) via UART (see Subsection 5.4.5).
  • Page 35 CAN FD: CAN frames of up to 64 bytes of payload. CAN FD BRS: Enable bitrate switching (BRS) when using CAN FD. Enabled: Use CAN FD BRS. Disabled: Do not use CAN FD BRS. Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 36: Differences Between Canstr And Can Interface

    5.4.3. Differences between CANSTR and CAN Interface CANSTR, as defined by Fixposition, is a specialized port built upon the standard CAN interface. It offers the flexibility to utilize the CAN protocol to stream input and output data, which the user can customize within the I/O configuration section of the web interface.

  • Page 37: Output Generator

    Note: With High-Precision enabled, the output is no longer NMEA compliant. See the comparison of the two modes in Table 5.5. If you are currently parsing standard NMEA formatted messages, you must update your parser to support the added digits for the "High-Precision" NMEA output provided. Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 38: Output Messages Configuration

    Note that the IMU output requires a lot of output bandwidth. For example, on a serial port, the baud rate must be set high enough for the necessary bandwidth. The exact number depends on what messages are enabled for the port. Available IMU messages: FP_A-RAWIMU FP_A-CORRIMU FP_A-TF_POIIMUH NOV_B-RAWIMU Vision-RTK 2 | Fixposition Positioning Sensor...
  • Page 39 The boot screen is as follows: $FP , TEXT ,1 , INFO , Fixposition AG - www . fixposition . com *09\ r \ n $FP , TEXT ,1 , INFO , SW = fp_release_vr2_2 .61.0 _191 *78\ r \ n $FP , TEXT ,1 , INFO , HW = nav - vr2 1.2 a 6 d9d18 *3 E \ r \ n...
  • Page 40 Fusion output frequency real output frequency theoretical output frequency output rate Output messages  Fusion output UART1 UART2 TCP0 TCP1 TCP2 TCP3 TCP4 CANSTR  FP_A-ODOMETRY Figure 5.15.: An example of setting up the output rate Vision-RTK 2 | Fixposition Positioning Sensor...
  • Page 41 TCP3 TCP4 CANSTR FP_A-GNSSANT UART1 UART2 TCP0 TCP1 TCP2 TCP3 TCP4 CANSTR FP_A-GNSSCORR UART1 UART2 TCP0 TCP1 TCP2 TCP3 TCP4 CANSTR Save and apply Revert to current Disable all Figure 5.16.: Output message configuration Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 42: Wheelspeed Input Options

    Upon receiving this data, the ROS network forwards it to the Fixposition driver. The driver then recognizes the data package and delivers the corresponding NOV-B_RAWDMI message to the Fusion engine. These methods are presented visually in Figure 5.17. Ensuring adequate configurations for seamless data integration and optimal system performance is imperative.

  • Page 43: Correction Service Configuration

    (see Subsection 5.5.1) at the appropriate rates over any of the I/O ports avail- able on the Vision-RTK 2. In this mode, the sensor does not send its location. If the host system requires a position message, the appropriate output message(s) can be configured (typically, NMEA-GP-GGA_NTRIP).
  • Page 44 Position  Longitude in fractional degrees (-180.0…180.0), for example: 8.45036 Height in meters (-1'000.0…10'000.0), for example: 395 Save and apply Revert to current Restart client Figure 5.18.: RTK configuration page in the web interface Vision-RTK 2 | Fixposition Positioning Sensor...
  • Page 45 Secret Sauce L1/L2/L5 1094(1), GAL+ 0.0 km 1124(1), 1008(1) Figure 5.19.: NTRIP caster sourcetable Note: Many casters do not provide a complete or accurate source table, and some do not provide one at all. Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 46: Supported Rtcm3 Messages

    NTRIP service, retrieve RTCM3 data, and subse- quently relay this correction information to the Vision-RTK 2 via I/O (UART/TCP), can follow the steps below. These guidelines will cover RTKLIB installation, establishing a connection with the NTRIP service, and streaming data to a designated IP address and port.
  • Page 47 Given these circumstances, users also need to configure Vision-RTK 2 to output the NMEA-GP-GGA_GNSS data. For instance, a TCP port (like TCP4) can be set to exclusively output NMEA-GP-GGA_GNSS data at a rate of 10 or less, as depicted in Figure 5.20.

  • Page 48: Camera Configuration

    Figure 5.22 presents an example of how to crop these undesired features from the camera view. Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 49: Camera Streaming

    Figure 5.22.: An example of the image view’s cutout 5.6.1. Camera streaming The camera image streaming implementation on the Vision-RTK 2 employs the Real- time Transport Protocol (RTP), which is a well-established network protocol for delivering video over IP networks. It runs over the User Datagram Protocol (UDP). RTP is designed for end-to-end, real-time transfer of streaming media.
  • Page 50 The camera’s intrinsic data is available to users upon request. The reference cam- era model is based on the OpenCV documentation OpenCV Fish-eye Camera Calibration https://docs.opencv.org/3.4/db/d58/group__calib3d__fisheye. html#details. For examples on how to enable and read the camera stream, please refer to https: //docs.fixposition.com/fd/camera-image-streaming. Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 51: Wheelspeed Sensor Configuration

    fields: Enable – Enables the wheelspeed sensor. If unchecked, the Vision-RTK 2 will not use any other parameters. It can be left unchecked to keep the configuration saved.
  • Page 52 Keep this setting unchecked when mixing sensors with signed and unsigned values. We advise enabling the ’wheelspeed sign’ option if supported by the wheel odometry sensor, as it causes the Vision-RTK 2 to react faster to wheelspeed measurements after being stationary.

  • Page 53: Fixposition Can Wheelspeed Sensor

    5.7.1. Fixposition CAN wheelspeed sensor The CAN message must be formatted as described in https://docs.fixposition.com/ fd/fixposition-can-frame for a generic speed input. The user should send the corre- sponding CAN frames at regular intervals, where the input rate must be at most 50 Hz.

  • Page 54: Verifying Fixposition Can Message Configuration

    CAN message. In the web interface, disable sensors 1 and 2 and set sensors 3 and 4 to RR and RL, respectively. 3. Activate the CAN interface on the Vision-RTK 2 system. It is crucial to ensure that the bitrate matches that of the host machine, facilitating seamless communication among all devices on the CAN bus.

  • Page 55: Fixposition I/O Wheelspeed Sensor

    Revert to current Figure 5.27.: Fixposition I/O message (vehicle speed, I/O port) preset configuration If your system employs ROS1 or ROS2, you can use our Fixposition ROS Driver to stream the wheelspeed measurements (https://github.com/fixposition/fixposition_driver). Note: If you have a ROS topic available with the wheelspeed information, you can use our "Fixposition Odometry Converter"...

  • Page 56: Sensor Fusion Configuration

    Housing: Prototype (i.e., 3D-printed) or Standard (i.e., aluminum). Tuning mode: Expected platform dynamics (see Section 2.3). GNSS extrinsics: Position of the GNSS antennas with respect to the Vision-RTK 2 sensor frame in meters. These values should be accurate to the mm level.

  • Page 57: Log Sensor Data

    (https://data.fixposition.com/customer/dashboard/). While users have ex- clusive access to their data, Fixposition will access it only with explicit user permission. Users can only see/use/delete their data and download the related KML data. If the user wants to use this service, please get in touch with the Fixposition team.
  • Page 58 772 of 5'888 MiB used (5'116 free) File  Size 2023-03-10-16-51-19_maximal 424 MB Delete selected files Refresh Calibration sequences The calibration sequences can be found on the Camera configuration page. Figure 5.29.: Record data panel in the web interface Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 59: Imu Calibration

    5.10. IMU calibration The Vision-RTK 2 requires a start-up procedure before being fully operational. The user must ensure the following requirements are fulfilled to start the calibration procedure: Both receivers have an RTK-fixed status. The Fusion engine is initialized, and the extrinsics are correct.
  • Page 60 IMU signal quality Low IMU noise IMU signal quality (a) Drive backward and forwards (b) Drive eight figures Figure 5.31.: Example trajectory for the IMU calibration procedure Figure 5.32.: Gyroscope and accelerometer biases over time Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 61: Ros Driver Installation

    The Fixposition ROS driver operating as a ROS node can listen to any I/O port to get outputs from the Vision-RTK 2 and then publish them in the ROS network. The user can directly stream the wheelspeed information via CAN/TCP/UART into the Vision-RTK 2.

  • Page 62: Point Of Interest Configuration

    5.12. Point of interest configuration The default reference frame of the Vision-RTK 2 is located at the X shape on the sensor housing (see section 2.3). If the user requires the odometry output in a different refer- ence frame, the "Output translation" meaning "Translation from the sensor to output represented by x-y-z Cartesian coordinates"...
  • Page 63 State estimate Output StdDev 47° 24' 0.4042" N 0.015 m Position  8° 27' 2.2641" E 0.011 m 447.28m 0.006 m Figure 5.35.: Arrow pointing towards the positive X direction of the output’s body frame Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 64: Web Interface Indicators

    5.13. Web interface indicators The navigation bar of the web interface contains useful indicators to signal the status of the Vision-RTK 2 and its related processes. Figure 5.36 presents all the available indicators.       ...
  • Page 65 (> 15 km). The sensor will experience degraded performance and difficulties computing an RTK-fixed solution if the basestation is excessively far away (> 25 km). In this case, please choose a different NTRIP mountpoint or re-connect to the VRS service. Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 66: Web Interface Tools

    The Web interface presents several tools on its "System Tools" page to reset stored data and configuration of the Vision-RTK 2, configure the Web Interface password, map access token, enable advanced options, and request remote support. Figure 5.39 presents all the available tools.
  • Page 67 Each advanced feature string must be separated by a semicolon. For further information, please ask the Fixposition team directly. Remote support: By starting remote support, you allow Fixposition support to ac- cess your sensor remotely. For this to work, the sensor must have access to the In- ternet.

  • Page 68: Status Dashboard

    HAPTER Status Dashboard 6.1. GNSS solution types The following RTK/GNSS fix convention is used: Fix type Value Color code Description Unknown Dark The receiver has no satellite signals. No fix Blue The receiver has not enough satellite signals. Reserved Reserved Single 2D Autonomous GNSS fix with very few available satellite signals.

  • Page 69: Gnss Status Dashboard

    - Poor, Gray - No data. 4. Signal levels: histogram of the number of GNSS signals and their corresponding signal levels (measured as the carrier to noise ratio in dB Hz). The coloured bars Vision-RTK 2 | Fixposition Positioning Sensor...
  • Page 70 8. Update indicators: these indicators blink whenever the data is updated. a) For GNSS 1 and GNSS2, the indicator blinks at 1 Hz; more or less in sync. b) The NTRIP indicator blinks at 0.2 Hz (every 5 seconds). Vision-RTK 2 | Fixposition Positioning Sensor...
  • Page 71 Note: The ’Time and date’ fields display the current estimate using the solutions from each u-blox F9P GNSS receiver independently. The user should not trust these mea- surements when the values are in gray. Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 72: Input/Output Dashboard

    1 ' 5 6 3 ' 3 9 1 ' 5 6 3 ' 3 9  C A N S n p t s s a g s r r o r s Figure 6.2.: Input/Output Status dashboard Vision-RTK 2 | Fixposition Positioning Sensor...
  • Page 73 1 is 2982 and among them, no error happened. The total data size of these messages is 309056. In CAN bus (CANSTR) port, 37573 messages are reported as error among the output 55299 messages. These data can be further analyzed if necessary for some troubleshooting. Vision-RTK 2 | Fixposition Positioning Sensor...

  • Page 74: Software Updates

    HAPTER Software Updates To update the software version of the Vision-RTK 2, head to the "System Update" panel in the web interface and either click into the marked area and select the SWU file or drag and drop the corresponding SWU file inside the marked area (see Figure A.1).

  • Page 75: Coordinate Transformations

    Earth. ECEF coordinates (Earth-Centered, Earth-Fixed) are part of a global Cartesian system in which the center of the Earth is placed at the origin <0,0,0>. The odometry output of the Vision-RTK 2 is given in ECEF coordinates.
  • Page 76 ENU plane. Let’s call this rotation matrix . As the orientation output enu ecef of the Vision-RTK 2 sensor is represented using a quaternion, we need to first convert the rotation matrix to a quaternion . Thus, the rotation of the Vision-RTK 2 sensor...
  • Page 77 NED (North-East-Down) coordinates and then extract the Roll-Pitch-Yaw angles with respect to NED, where yaw would be directly the heading in common sense. The function EcefPoseToEnuEul(), in the Fixposition GNSS Transformation Lib, receives the pose of the sensor in ECEF coordinates and returns the orientation of the robot in Yaw-Pitch-Roll angles using the equations described above.

  • Page 78: Camera Fov Data And Model

    D H V FOV Figure C.2.: A schematic of the Vision- RTK 2’s FOV The STEP file of the Vision-RTK 2 FOV model is available at: https://docs.fixposition. com/fd/step-model-and-camera-fov-data. The DFOV (see figure below) is the angle subtended by the diagonal of the camera...

  • Page 79: Antenna Selection

    HAPTER Antenna Selection The Vision-RTK 2’s GNSS receivers require signals located at the L1 and L2 bands for adequate operation. Based on our internal testing, we recommend using helical antennas with a gain of around 35 dB. For reference, our evaluation kit ships with two Hi-Target AH- 3232 antennas.

  • Page 80: Ros Topic Output Rate Accuracy

    HAPTER ROS topic output rate accuracy The output rate of the ROS topics published by the Vision-RTK 2 is accurate. However, when looking at the recordings or plotting the received messages, the user might observe the following behavior: Figure E.1.: Delays in the time of arrival of ROS messages As observed in Figure E.1, the rate of the output messages is not constant when looking...

Table of Contents