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1. Usb Gps Receiver Software

Usb Gps Receiver Software

The driver for the CHIPS GNSS GPS U-blox receiver driver, applicable products: U-blox 8 GLONASS Receiver GPS/GNSS U-blox 7 GPS/GNSS Receiver U-blox 6 GPS Receiver U-blox 5 GPS and GALILEO Receiver It applies to UBLOX GNSS CHIP design GNSS GPS GLONASS receivers the system is running Windows XP WIN7 WIN8 USB driver software Suitable for UBLOX GPS CHIP 6010, UBLOX GNSS CHIP7020, Ublox gnss. The USB drivers, along with. Installation instructions, are available in the USB Drivers. With your DL-4plus:. 1 CompactFlash™ card. 1 12V power cable, 1 I/O cable, 1 USB cable, 1 null. GPS Novatel GNSS Receiver and Antenna SMART-AG User Manual. Novatel gnss receiver and antenna user manual (76 pages).

Introduction

This is a port of the Apollo GNSS driver to pure ROS. We removeddependencies on the protocol buffer messaging infrastructure used byApollo.

This driver has been tested to work with a Novatel ProPak 6 on theUniversity of Nevada, Reno's MKZ platform from AutonomouStuff.

This work was supported by the Nevada Governor's Office of EconomicDevelopment and the State of Nevada's Knowledge Fund.

Purpose

• Integrate Apollo's framework into the ROS framework through remove of protocol buffer dependencies for messages and instead use the ROS message framework to publish and subscribe to sensor topics.
• Publish, subscribe, and log gnss data including gps, imu, ins, and wheel encoder.
• Stream RTK correction to the GPS receiver if available.

Design

This GNSS driver has two nodelets: a data stream nodelet and a parser nodelet. The stream nodelet communicates between the host PC and the device and grabs the RTK data from a NTRIP caster. The parser nodelet subscribes the raw data from the stream nodelet, parses the data, and publishes ROS messages.

Input

• GPS data, e.g. velocity latency, position and velocity and their standard deviations
• INS data, e.g. position, linear and angular velocity and covariance
• IMU pose data, e.g. orientation, velocity, & acceleration

Output

• data stream status
• gnss status
• ins status
• imu data
• localization data

Configuration

We use protocol buffers to store the driver configuration. The configuration file is stored in path share/gnss_driver/conf/ which is quoted by gnss_driver.launch. File gnss_driver.launch is stored in path share/gnss_driver/launch/.When using the gnss_driver, the following should be checked before deployment:

• To use the location with UTM projection, check the zone id configuration in gnss_driver.launch.
• Check the the lever arm distance.
• Confirm the imu install method, as this affects the vehicle's frame and orientation compute.