GNSSCalibrationParameters Class Reference

Holds the options used for calibrating GNSS / VIO. More...

Attributes

float target_yaw_uncertainty = 0.1
 This parameter defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes. The unit of this parameter is in radian. More...
 
bool enable_translation_uncertainty_target = false
 When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination. The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter. More...
 
float target_translation_uncertainty = 10e-2
 This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO concludes. More...
 
bool enable_reinitialization = true
 This parameter determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data. It becomes particularly crucial during prolonged GNSS signal loss scenarios. More...
 
float gnss_vio_reinit_threshold = 5
 This parameter determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond out of the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered. More...
 
bool enable_rolling_calibration = true
 If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it. This allow you to quickly get a fused position. More...
 

Detailed Description

Holds the options used for calibrating GNSS / VIO.

Variables

◆ target_yaw_uncertainty

float target_yaw_uncertainty = 0.1

This parameter defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes. The unit of this parameter is in radian.

Default: 0.1 radians

◆ enable_translation_uncertainty_target

bool enable_translation_uncertainty_target = false

When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination. The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter.

◆ target_translation_uncertainty

float target_translation_uncertainty = 10e-2

This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO concludes.

Default: 10e-2 (10 centimeters)

◆ enable_reinitialization

bool enable_reinitialization = true

This parameter determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data. It becomes particularly crucial during prolonged GNSS signal loss scenarios.

◆ gnss_vio_reinit_threshold

float gnss_vio_reinit_threshold = 5

This parameter determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond out of the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered.

◆ enable_rolling_calibration

bool enable_rolling_calibration = true

If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it. This allow you to quickly get a fused position.