Comments (10)
Steven-GH
commented on August 26, 2024
Hello @diennv,
We have created a list of possible causes for this on our knowledge base: https://xsenstechnologies.force.com/knowledgebase/s/article/Reasons-why-the-heading-yaw-is-not-stable-or-incorrect-1605869709245?language=en_US
Could you have a look at this, especially the last section (GNSS/INS specific)? Which filter profile are you currently using?
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diennv
commented on August 26, 2024
Hi Steven,
Thank you for your quick reply. We started to use IMU for robot
localization.
MTi-670 (GNSS/INS) is our first experiment with IMU, therefore, there were
many mistakes and confusion , and many questions also :)
Before, we used only IMU without GNSS enabled because we thought that the
on-board GPS is low accuracy. We achieved linear acceleration and angular
velocity to calculate quateration and then achieve heading angle (we dont
know which frame does it reference). We want to use this heading angle to
fuse with our external GPS data.
However, it had the spinning issue as I mentioned.
After verify with your answer, we connected and enabled on-board GPS,
Currently, we are using the filter profile like below:
---------------------------------------------------------------------------------
/imu/data
/imu/mag
---
header:
seq: 1347
stamp:
secs: 1627030163
nsecs: 152378247
frame_id: "imu_link"
orientation:
x: 0.0197074244843
y: 0.0182922315108
z: -0.137389630893
w: 0.990152059539
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: 0.00204220414162
y: -0.00316649745218
z: 0.0152803957462
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -0.209333747625
y: 0.399170994759
z: 9.84227657318
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0]
------------------------------------------------------------------------------------------------------------------------------------------------------------------------
we saw that the heading angle (achieved from orientation directly is much
more stable, and used magnetic North as a reference).
BTW, i had two questions. If using this IMU for indoor application (loss
GPS signal), which direction does the heading angle reference ?
Second, can we connect our external GPS to the IMU device ? (our external
GPS is higher accuracy). If yes, is there any public guide for that?
Sorry if my question is stupid but we want to understand about IMU for
future development.
Thanks you so much,
Vào Th 6, 23 thg 7, 2021 vào lúc 16:19 StevenXsens <
***@***.***> đã viết:
… Hello @diennv <https://github.com/diennv>,
We have created a list of possible causes for this on our knowledge base:
https://xsenstechnologies.force.com/knowledgebase/s/article/Reasons-why-the-heading-yaw-is-not-stable-or-incorrect-1605869709245?language=en_US
Could you have a look at this, especially the last section (GNSS/INS
specific)? Which filter profile are you currently using?
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Steven-GH
commented on August 26, 2024
Hello @diennv,
Concerning heading output during GNSS outages, there are two scenarios:
- With General(NoBaro) filter profile, the heading will be unreferenced (initialized at 0 deg) when the MTi powers up. As soon as GNSS data is received and if the MTi is moving, the heading will automatically become globally referenced (with respect to East). If a GNSS outage happens after that, the MTi will keep estimating its heading with respect to the global frame.
- With GeneralMag filter profile, the heading will always be globally referenced (with respect to East).
Yes, you can connect a different external GNSS receiver to your MTi-670. It supports the UBX (u-blox) or NMEA protocol. More information can be found in the below documentation chapters:
https://mtidocs.xsens.com/signal-processing-and-algorithms$gnss-input
https://mtidocs.xsens.com/interfaces-2$gnss-receiver-interface
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diennv
commented on August 26, 2024
Hi Steven,
Thank you for your guide.
First, we tested the GNSS/INS fusion solution. It seemed to work. The shape
of the road waypoint was reasonable.
However, the position of the waypoint was shifted compared with our GNSS
data (with RTK server support).
We tried to connect our GNSS (with RTK server supported) data with Mti-670
board via the RS232 interface. We set GNSS output nmea formats: GPA,
RTC..., with 4Hz, baudrate 115200.
We use MT manager to visualize the output of xsens board. However, there
was no GPS data at all.
It seems to have problems with physical settings or connection.
I tried to search but there are no examples of connecting xsens development
boards with external GNSS receivers.
Could you guess where our problem is?
Thank you so much,
Vào Th 2, 26 thg 7, 2021 vào lúc 15:58 StevenXsens <
***@***.***> đã viết:
… Hello @diennv <https://github.com/diennv>,
Concerning heading output during GNSS outages, there are two scenarios:
- With General(NoBaro) filter profile, the heading will be
unreferenced (initialized at 0 deg) when the MTi powers up. As soon as GNSS
data is received and if the MTi is moving, the heading will automatically
become globally referenced (with respect to East). If a GNSS outage happens
after that, the MTi will keep estimating its heading with respect to the
global frame.
- With GeneralMag filter profile, the heading will always be globally
referenced (with respect to East).
Yes, you can connect a different external GNSS receiver to your MTi-670.
It supports the UBX (u-blox) or NMEA protocol. More information can be
found in the below documentation chapters:
https://mtidocs.xsens.com/signal-processing-and-algorithms$gnss-input
https://mtidocs.xsens.com/interfaces-2$gnss-receiver-interface
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Steven-GH
commented on August 26, 2024
Hello @diennv,
The hardware-wise connections can be found here:
https://mtidocs.xsens.com/interfaces-2$gnss-receiver-interface
And the software configuration can be found here:
https://mtidocs.xsens.com/signal-processing-and-algorithms$gnss-input
Does your GNSS receiver output GGA, GST, RMC and GSA (all are required) with the same Talker ID (GN, GP or GL)? You will also need to configure your device to receive NMEA messages using the SetGnssReceiverSettings message.
Finally, please note that the MTi-670 is designed for use with non-RTK GNSS receiver. Connecting RTK GNSS receivers is possible, and the MTi-670 can use the data for its GNSS/INS fusion, but the sensor-fused position output may not be centimeter-accurate.
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diennv
commented on August 26, 2024
Hi Steven,
Yes, we configured GPS receiver output GGA, GST, RMC, GSA with same Talker
ID.
Our GPS receiver is: MRP2000 with RTK server. (
http://www.omasurvey.kr/mall/m_mall_detail.php?ps_ctid=02000000&ps_goid=214
).
Today, we tested but not working yet. We may missing PPS signal.
Our GPS output interface is RS232 interface. How to get PPS from GPS device?
Thanks.
Vào Th 2, 2 thg 8, 2021 vào lúc 21:07 StevenXsens <
***@***.***> đã viết:
… Hello @diennv <https://github.com/diennv>,
The hardware-wise connections can be found here:
https://mtidocs.xsens.com/interfaces-2$gnss-receiver-interface
And the software configuration can be found here:
https://mtidocs.xsens.com/signal-processing-and-algorithms$gnss-input
Does your GNSS receiver output GGA, GST, RMC and GSA (all are required)
with the same Talker ID (GN, GP or GL)? You will also need to configure
your device to receive NMEA messages using the SetGnssReceiverSettings
message.
Finally, please note that the MTi-670 is designed for use with non-RTK
GNSS receiver. Connecting RTK GNSS receivers is possible, and the MTi-670
can use the data for its GNSS/INS fusion, but the sensor-fused position
output may not be centimeter-accurate.
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Steven-GH
commented on August 26, 2024
Hi @diennv,
What is the SetGnssReceiverSettings message you have sent to the MTi? And which Talker ID does your GPS receiver use?
An RS232 interface is perfect. The PPS signal is not a hard requirement; it is only used for clock synchronization purposes.
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diennv
commented on August 26, 2024
Hi Steven,
Yes. I configured the GPS receiver output rate to be 4 Hz.
I connected our GPS device to IMU as shown in an attached file.
Also, GPS output messages, IMU settings, results data are attached in mail.
Pls check it and let me know your opinions.
Thanks.
Vào Th 4, 4 thg 8, 2021 vào lúc 16:53 StevenXsens <
***@***.***> đã viết:
… Hi @diennv <https://github.com/diennv>,
What is the output rate of your GPS receiver? Can you set it to 4 Hz? And
what is the SetGnssReceiverSettings message you have sent to the MTi?
An RS232 interface is perfect. The PPS signal is not a hard requirement;
it is only used for clock synchronization purposes.
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Steven-GH
commented on August 26, 2024
Hi @diennv,
Sorry, but I can't seem to access the attachments you sent... Could you perhaps send your e-mail to [email protected]? I will make sure that I or a local product specialist will support you further with this.
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diennv
commented on August 26, 2024
Yes. I sent.
Pls check it.
Thanks.
Vào 04:49 PM, T.5, 5 Th8, 2021 StevenXsens ***@***.***> đã
viết:
… Hi @diennv <https://github.com/diennv>,
Sorry, but I can't seem to access the attachments you sent... Could you
perhaps send your e-mail to ***@***.***? I will make sure that I or
a local product specialist will support you further with this.
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