ApolloAuto
Adjusting Localization for GNSS Device Positioned at Front Axle
Apollo seems to use the rear axle center as the reference point for localization and navigation. Assuming my GNSS device is located at the front axle of the vehicle, what should I do to ensure the localization data meets the requirements?
- OS Platform and Distribution (e.g., Linux Ubuntu 20.04):
- Apollo installed from (source or binary):
- Apollo version (9.0):
@HandsomeAIccx We recommend that the positioning device is best installed at the center of the rear axle because the IMU will be as stable as possible as it is close to the center of gravity of the vehicle. https://github.com/ApolloAuto/apollo/blob/e373b206a0dc0360af826152132a61c85cab295c/modules/transform/conf/static_transform_conf.pb.txt#L15-L20
Of course, if there is something special, you need to add the conversion from imu to localization. You need to measure the x, y, z, yaw, roll, and pith from the imu to the center of the rear axle of the vehicle, and then set the imu to localization conversion relationship.
@HandsomeAIccx We recommend that the positioning device is best installed at the center of the rear axle because the IMU will be as stable as possible as it is close to the center of gravity of the vehicle.
https://github.com/ApolloAuto/apollo/blob/e373b206a0dc0360af826152132a61c85cab295c/modules/transform/conf/static_transform_conf.pb.txt#L15-L20
Of course, if there is something special, you need to add the conversion from imu to localization. You need to measure the x, y, z, yaw, roll, and pith from the imu to the center of the rear axle of the vehicle, and then set the imu to localization conversion relationship.
Thank you for your assistance! However, I’m still unsure about the difference between a NovAtel system and an IMU. For instance, when using a LiDAR for obstacle detection, which coordinate system should be calibrated? Should the LiDAR be calibrated to the NovAtel system, or to the IMU?