![]() The translation is given by x, y and z and the rotation by the quaternion q. Table 1: Rigid transformations between the different coordinate frames involved in the system. The calibration file includes the camera and IMU intrinsic parameters and the extrinsic parameters between all the sensors. The extrinsic and the intrinsic calibrations of all sensors (for each sequence) are stored in the files calibration.txt (see Table 1 for a extrinsic parameters summary). The main difference between them is that the one placed on the robot, has a lower power consumption. The routers were chosen due to their high transmission power and receiver sensitivity. The first one, a MikroTik Metal G-52SHPacn, was placed in a fixed base station, while the second one, a MikroTik Groove GA-52HPacn, was placed on the robot. ![]() The connection between the two GPS-RTK modules was made through a WiFi network using two routers. ![]() It is mounted on a 322 × $ 247 m m $ ground plane that far exceeds the 100 × $ 100 m m $ suggested by the manufacturer of the GPS-RTK, giving it superior rejection of bouncing signals from nearby structures ( multipath signals). The base station consists of a Reach module connected to a Tallysman TW4721 antenna with IP67 protection. Its accuracy was characterized in our previous work pistarelli2017gps. We used two GPS-RTK Reach 2 2 2 modules, one mounted on the robot and another one on the base station.
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