This is the Baidu Apollo7.0 gnss driver adapted for using ins570d.
A high performance, flexible architecture which accelerates the development, testing, and deployment of Autonomous Vehicles.Apollo's Github Repo
A High-precision combined navigation device. Documentation Here
This is the hardware connecting diagram, to use this driver wo also need a RS422-USB line added between RS422 port and testing PC.
Than run the following commands to clone this repo.
git clone https://github.com/Mud-B/ins570d_apollo_driver.git
Next,under this path/<Apollo_workspace>/modules/driver/gnss, replace the Apollo origin driver with this driver.
Finally,use this command under apollo docker environment to build driver.
./apollo.sh build_opt driver/gnss