tiany44/eagleye

(Alpha version)

What is Eagleye

Eagleye is an open-source software for vehicle localization utilizing GNSS and IMU[1]. Eagleye provides highly accurate and stable vehicle position and orientation by using GNSS Doppler[2][3][4][5][6]. The flowchart of the algorithm is shown in the figure below. The algorithms in this software are based on the outcome of the research undertaken by Machinery Information Systems Lab (Meguro Lab) in Meijo University.

Recommended Sensors

GNSS receiver

Ublox NEO-M8T / EVK-M8T
Ublox ZED-F9P / C099-F9P

GNSS Antenna

IMU

Wheel speed sensor

Eagleye uses vehicle speed acquired from CAN bus.

How to install

RTKLIB

Clone and Build MapIV's fork of RTKLIB. You can find more details about RTKLIB here.

sudo apt-get install gfortran
cd $HOME
git clone -b rtklib_ros_bridge https://github.com/MapIV/RTKLIB.git
cd $HOME/RTKLIB/lib/iers/gcc/
make
cd $HOME/RTKLIB/app
make

ROS Packages

Clone and build the necessary packages for Eagleye. (rtklib_ros_bridge, nmea_comms)

cd $HOME/catkin_ws/src
git clone https://github.com/MapIV/eagleye.git
git clone https://github.com/MapIV/rtklib_ros_bridge.git
git clone https://github.com/MapIV/nmea_comms.git
rosdep install --from-paths src --ignore-src -r -y
catkin_make -DCMAKE_BUILD_TYPE=Release

Configuration

GNSS

single point positioning by F9P

RTKLIB settings.

Change inpstr1-path of $HOME/RTKLIB/app/rtkrcv/conf/rtklib_ros_bridge_single.conf according to the serial device you use.

ie)

inpstr1-path =/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_GNSS_receiver-if00:230400:8:n:1:off

nmea_comms settings.

Change arg name="port" of $HOME/catkin_ws/src/nmea_comms/launch/f9p_nmea_sentence.launch according to the serial device you use.

ie)

<arg name="port" default="/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AG0JNPDS-if00-port0" />

GNSS receiver settings. Configure the receiver settings using u-center.

UART1(Connect to RTKLIB) Enable UBX message (output rate 5Hz, baudrate 230400) ※ Set to output only RAWX and SFRBX
UART2(Connect to nmea_comms) Enable NMEA message (output rate 1Hz, baudrate 115200) ※ Set to output only GGA and RMC

This file (eagleye_f9p_conf.txt) is a sample configuration file for F9P.
Open u-center.
Tools/Receiver Configuration.../Load configuration "Transfer file -> GNSS"

To load the configuration, change the ublox FW version to 1.10.

Real Time Kinematic by F9P

RTKLIB settings.

Change inpstr1-path, inpstr2-path, inpstr2-format, and ant2-postype of $HOME/RTKLIB/app/rtkrcv/conf/rtklib_ros_bridge_meijo_rtk.conf according to the serial device you use.

ie)

inpstr1-path =/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_GNSS_receiver-if00:230400:8:n:1:off
inpstr2-path =:@rtk2go.com:2101/Meijo-Ublox
inpstr2-format =ubx
ant2-postype =llh # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw)
ant2-pos1 =35.1348599331534 # (deg|m) If ant2-postype is llh or xyz, the position of the reference station must be specified by ant2-pos1, ant2-pos2, and ant2-pos3.
ant2-pos2 =136.973613158051 # (deg|m)
ant2-pos3 =102.502548295454 # (m|m)

nmea_comms settings.

Change arg name="port" of $HOME/catkin_ws/src/nmea_comms/launch/f9p_nmea_sentence.launch according to the serial device you use.

ie)

<arg name="port" default="/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AG0JNPDS-if00-port0" />

GNSS receiver settings. Configure the receiver settings using u-center.

The following is a sample configuration file for F9P.

(1) Settings for receivers that output aircraft that output NMEA (positioning results RTK'd by the F9P internal engine)
eagleye_f9p_nmea_conf.txt
https://www.dropbox.com/s/3viqyqutipn5dpj/eagleye_f9p_nmea_conf.txt?dl=0
(2) Settings for receivers that measure RAW data through RTKLIB and output Doppler velocity.
eagleye_f9p_raw_conf.txt
https://www.dropbox.com/s/acz98v30rtgbmsx/eagleye_f9p_raw_conf.txt?dl=0
Open u-center.
Tools/Receiver Configuration.../Load configuration "Transfer file -> GNSS"

To load the configuration, change the ublox FW version to 1.10.

IMU

IMU settings.

Output rate 50Hz

Check the rotation direction of z axis of IMU being used. If you look from the top of the vehicle, if the left turn is positive, set "reverse_imu" to true in eagleye/eagleye_rt/config/eagleye_config.yaml.
```
  reverse_imu: true
```

Eagleye parameters

The parameters of eagleye can be set in the eagleye_config.yaml. The default settings are 5Hz for GNSS and 50Hz for IMU.

The TF between sensors can be set in sensors_tf.yaml. The settings are reflected by describing the positional relationship of each sensor with respect to base_link. If you want to change the base frame, change basic_parent_flame to reflect the change.

How to run

Use sample data

Play the sample data.

 rosparam set use_sim_time true
 rosbag play --clock eagleye_sample.bag

Launch eagleye.

 roslaunch eagleye_rt eagleye_rt.launch

The estimated results will be output about 100 seconds after playing the rosbag. This is because we need to wait for the data to accumulate for estimation.

Running real-time operation

Check if wheel speed (vehicle speed) is published in /can_twist topic.

Topic name: /can_twist
Message type: geometry_msgs/TwistStamped twist.liner.x

Check if the IMU data is published in /imu/data_raw topic.

Start RTKLIB.

ex. single point positioning

 cd $HOME/RTKLIB
 bash rtklib_ros_bridge_single.sh

ex. Real Time Kinematic

 cd $HOME/RTKLIB
 bash rtklib_ros_bridge_meijo_rtk.sh

Check if RTKLIB is working by execute the following command in the terminal. If the RTKLIB is working correctly, positioning information is appeared continuously in the terminal.
```
 status 0.1  
```

Start rtklib_ros_bridge.

 roslaunch rtklib_bridge rtklib_bridge.launch

Start nmea_comms.

 roslaunch nmea_comms f9p_nmea_sentence.launch

Start eagleye.

 roslaunch eagleye_rt eagleye_rt.launch

Note

To visualize the eagleye output location /eagleye/fix, for example, use the following command

rosrun fix2kml fix2kml

Sample data

ROSBAG

No.	Date	Place	Sensors	Link
1	2020/01/27	Moriyama, Nagoya route	GNSS: Ublox F9P IMU: Tamagawa AU7684 LiDAR: Velodyne HDL-32E	Download
2	2020/07/15	Moriyama, Nagoya route	GNSS: Ublox F9P with RTK IMU: Tamagawa AU7684 LiDAR: Velodyne VLP-32C	Download

Maps

The 3D maps (point cloud and vector data) of the route is also available from Autoware sample data.

Research Papers for Citation

J Meguro, T Arakawa, S Mizutani, A Takanose, "Low-cost Lane-level Positioning in Urban Area Using Optimized Long Time Series GNSS and IMU Data", International Conference on Intelligent Transportation Systems(ITSC), 2018 Link
Takeyama Kojiro, Kojima Yoshiko, Meguro Jun-ichi, Iwase Tatsuya, Teramoto Eiji, "Trajectory Estimation Based on Tightly Coupled Integration of GPS Doppler and INS" -Improvement of Trajectory Estimation in Urban Area-, Transactions of Society of Automotive Engineers of Japan 44(1) 199-204, 2013 Link
Junichi Meguro, Yoshiko Kojima, Noriyoshi Suzuki, Teramoto Eiji, "Positioning Technique Based on Vehicle Trajectory Using GPS Raw Data and Low-cost IMU", International Journal of Automotive Engineering 3(2) 75-80, 2012 Link
K Takeyama, Y Kojima, E Teramoto, "Trajectory estimation improvement based on time-series constraint of GPS Doppler and INS in urban areas", IEEE/ION Position, Location and Navigation Symposium(PLANS), 2012 Link
Junichi Meguro, Yoshiko Kojima, Noriyoshi Suzuki, Eiji Teramoto, "Automotive Positioning Based on Bundle Adjustment of GPS Raw Data and Vehicle Trajectory", International Technical Meeting of the Satellite Division of the Institute of Navigation (ION), 2011 Link
Yoshiko Kojima, et., al., "Precise Localization using Tightly Coupled Integration based on Trajectory estimated from GPS Doppler", International Symposium on Advanced Vehicle Control(AVEC), 2010 Link

License

Eagleye is provided under the BSD 3-Clause License.

Contacts

If you have further question, email to map4@tier4.jp.

tiany44 / eagleye