Skip to content

Report GNSS fixes at the antenna position #13

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We鈥檒l occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
JaidenAGrimminck merged 1 commit into from
Oct 16, 2026
Merged

Report GNSS fixes at the antenna position #13

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 5 additions & 3 deletions app/autonomy/LocalizationMeasurements.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -270,10 +270,12 @@ export function buildImuMeasurement(snapshot, sensorConfig, rng, state = {}) {
export function buildGnssMeasurement(snapshot, sensorConfig, rng, state = {}) {
const faults = sensorConfig.calibration.faults || {};
const datum = sensorConfig.calibration.datum || { latitude: 42.4430, longitude: -76.4840, altitude: 200 };
// The fix is the antenna position: base_link plus the mount offset rotated into the map frame.
const antennaOffset = rotateVectorByQuaternion(vec3(sensorConfig.pose?.position), snapshot.orientation);
const positionEnu = {
east: snapshot.pose.position.x,
north: snapshot.pose.position.y,
up: snapshot.pose.position.z,
east: snapshot.pose.position.x + antennaOffset.x,
north: snapshot.pose.position.y + antennaOffset.y,
up: snapshot.pose.position.z + antennaOffset.z,
};
const dt = state.lastCaptureTimeNs != null && snapshot.captureTimeNs > state.lastCaptureTimeNs
? (snapshot.captureTimeNs - state.lastCaptureTimeNs) / 1e9
Expand Down
Loading