Ground-Truth Data
A real-time kinematic (RTK) capable GNSS receiver with a GNSS base station is used as the ground-truth source for the dataset.
SimpleRTK2B board is used as the GNSS receiver that has an u-blox ZED-F9P multi-band receiver module with multiple constellations support. The RTK module inside the ZED-F9P has the capability of providing the receivers location at an accuracy of 1cm in open environments.
The real-time NMEA stream for the ZED-F9P was provided by Reach RS2 base station. RS2 communicates with the ZED-F9P using a ultra high frequncy (UHF) LoRa radio. The Reach RS2 also capable of providing a post processed kinematics (PPK) solution upto 100km by logging data at 10Hz.
Ground-Truth Sources
Raw ROS Topics
Message Type |
Topic Name |
Rate [Hz] |
Description |
|---|---|---|---|
sensor msgs/NavSatFix |
/fix |
5 |
raw RTK-GNSS |
nmea msgs/Sentence |
/nmea_sentence |
5 |
nmea formatted RTK-GNSS |
Post processed ROS Topics - Higher accuracy than raw RTK-GNSS Measuremnts
Message Type |
Topic Name |
Rate [Hz] |
Description |
|---|---|---|---|
sensor msgs/NavSatFix |
/fix_ppk |
5 |
PPK GNSS |
nav msgs/Odometry |
/fix_frl |
5 |
6DOF pose ground-truth |