Test Setup

GQ7 Configuration

The GQ7 was set up with a standard configuration that would perform well in a variety of dynamic environments.

Heading Initialization

Heading was set to initialize from dual antenna heading or GNSS kinematic alignment, whichever source was available first. Dual antenna heading is the most robust initialization source, but takes time and a clear view of the sky for an accurate measurement. In a wheeled vehicle, GNSS kinematic alignment is a valid initialization method and allows for rapid filter initialization.

Filter Aiding Measurements

• GNSS position and velocity: Default filter aiding source, required for navigation

• Dual antenna heading: Dual antenna heading measurements are not critical for maintaining accurate heading in dynamic environments. During periods of consistent linear acceleration and GNSS data, the EKF will converge on an accurate estimate of heading. However, in periods of low dynamics, heading stability is solely dependent on gyro integration, which will drift over time. Dual antenna heading provides stability during these periods.

Test Environment

GNSS and INS performance accuracy is generally tested in an ideal static environment, and often not representative of end use performance. Dynamic environments introduce error sources such as multipath, obscured sky view, vibration, inconsistent RTK data streams and more. This test was conducted in an standard urban environment, including dense tree coverage, underpasses, buildings and imperfect cellular data coverage.

Results

A reference navigation solution was generated using a higher grade INS and post-processing software. In order to have more representative data, the initial EKF convergence period was removed from the results. In addition, position accuracy is reported in the test vehicle reference frame and not the NED frame. This removes any error due to the vehicle frame lever arm offset between the 3DMGQ7 and the reference system.

The content & opinions in this article are the author’s and do not necessarily represent the views of RoboticsTomorrow

Featured Product

3D Vision: Ensenso B now also available as a mono version!

This compact 3D camera series combines a very short working distance, a large field of view and a high depth of field - perfect for bin picking applications. With its ability to capture multiple objects over a large area, it can help robots empty containers more efficiently. Now available from IDS Imaging Development Systems. In the color version of the Ensenso B, the stereo system is equipped with two RGB image sensors. This saves additional sensors and reduces installation space and hardware costs. Now, you can also choose your model to be equipped with two 5 MP mono sensors, achieving impressively high spatial precision. With enhanced sharpness and accuracy, you can tackle applications where absolute precision is essential. The great strength of the Ensenso B lies in the very precise detection of objects at close range. It offers a wide field of view and an impressively high depth of field. This means that the area in which an object is in focus is unusually large. At a distance of 30 centimetres between the camera and the object, the Z-accuracy is approx. 0.1 millimetres. The maximum working distance is 2 meters. This 3D camera series complies with protection class IP65/67 and is ideal for use in industrial environments.

More Products

Feature Your Product