Xsens MTi-G-710 data fusion and output frequency problems

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

Please provide the following info (check/uncheck the boxes after creating this topic):
Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
1.9.1.10844
other

Host Machine Version
native Ubuntu 18.04
other

Hi,

We have been experimenting with the Xsens MTi-G-710 sensor for GPS and IMU data. Based on our findings I would like some clarifications regarding the following points. According to the manufacturer’s documentation (linked below), the Xsens MTi-G-710 provides sensor fusion capabilities. Additionally, there are several filter profiles to be used for the data fusion. There is specific automotive filter profile that seems appropriate to the autonomous driving application.

https://mtidocs.xsens.com/mti-system-overview-2$xsens-sensor-fusion-algorithm-for-mti-g-710

Based on the following forum thread, when the sensor is initialized from DRIVE AGX, several configuration parameters are set in the sensor’s firmware, such as the output frequency.

In the following image from MT manager, the sensor seems to be providing two separate streams for localization. The raw GNSS data (last row), with output frequency 4Hz (which is too low) and the second stream ‘Position and Velocity’ from fused data at 25Hz.

image
image1920×1497 99 KB

Based on these points, my questions are the following:

  1. Is a specific filter profile set during the initialization of the sensor from DRIVE AGX? What profile is it? The ‘General’ or the ‘Automotive’?
  2. Is it possible to specify a filter profile during initialization? Maybe via a parameter in the rig file?
  3. Are the fused data (position, velocity, GPS Age) accessible from SAL? From our experiments, in our application we get data in the form of ‘dwGPSFrame’ every 250ms (4Hz), which seems like the raw data and not the result of the fusion.
  4. Can we increase the frequency of GPS during sensor initialization? In our rig file, we set ‘frequency=100’ for the GPS sensor and it is ignored. We still get data in the rate of 4Hz.

Thanks in advance.

3

Any help would be appreciated. Thanks

4

Sorry for overlooking this topic. We will check it internally and get back to you soon.

5

All the data available from SAL is inside dwGPSFrame structure, you can check the dwGPSFrame.flags to see which fields are available in that frame.

Currently from the code, we cannot set the frequency > 4 for XDI_GnssPvtData, that should be the reason why the rate is 4HZ

You can also implement your own plugin for Xsens MTi-G-710 based on GPSCustom class which is supported for DW4.0, there will be more flexible in this way, refer DriveWorks SDK Reference: Custom GPSs (Comprehensive) for more details

6

Thank you for the valuable information.

I have a follow up question:

I understand that PVT data from GNSS are provided in a dwGPSFrame at 4Hz.
Besides that, is it possible to acquire the PVT data that are calculated from Xsens MTi-G-710 as a result of sensor fusion (IMU+GNSS)? In the screenshot I provided, it is shown that these PVT data are provided at 25Hz.

7

Is this still an issue?

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