collection/localization/README_cn.md
定位模块是Apollo自动驾驶系统的重要组成部分，它负责在车辆行驶过程中对车辆的位置、速度和方向进行精确的测量和估计。它包含3种定位方式：RTK定位、NDT定位和MSF定位，其中MSF定位通过融合GPS、IMU、激光雷达、摄像头等多种传感器的数据，实现了车辆的高精度定位和轨迹估计。
输入消息
| 消息名称 | 通道名称 | 功能 |
|---|---|---|
| apollo::localization::Gps | /apollo/sensor/gnss/odometry | GPS消息 |
| apollo::localization::CorrectedImu | /apollo/sensor/gnss/corrected_imu | 组合导航输出IMU消息 |
| apollo::drivers::gnss::InsStat | /apollo/sensor/gnss/ins_stat | 组合导航状态 |
输出消息
| 消息名称 | 通道名称 | 功能 |
|---|---|---|
| apollo::localization::LocalizationEstimate | /apollo/localization/pose | 定位输出车辆的位置和姿态信息 |
| apollo::localization::LocalizationStatus | /apollo/localization/msf_status | 定位状态 |
输入消息
| 消息名称 | 通道名称 | 功能 |
|---|---|---|
| apollo::localization::Gps | /apollo/sensor/gnss/odometry | GPS消息 |
| apollo::drivers::PointCloud | /apollo/sensor/lidar128/compensator/PointCloud2 | 激光雷达点云 |
| apollo::drivers::gnss::InsStat | /apollo/sensor/gnss/ins_stat | 组合导航状态 |
输出消息
| 消息名称 | 通道名称 | 功能 |
|---|---|---|
| apollo::localization::LocalizationEstimate | /apollo/localization/pose | 定位输出车辆的位置和姿态信息 |
| apollo::localization::LocalizationEstimate | /apollo/localization/ndt_lidar | 激光雷达定位输出车辆的位置和姿态信息 |
| apollo::localization::LocalizationStatus | /apollo/localization/msf_status | 定位状态 |
输入消息
| 消息名称 | 通道名称 | 功能 |
|---|---|---|
| apollo::drivers::gnss::Imu | /apollo/sensor/gnss/imu | 原始Imu信息 |
| apollo::drivers::PointCloud | /apollo/sensor/lidar128/compensator/PointCloud2 | 激光雷达点云信息 |
| apollo::drivers::gnss::GnssBestPose | /apollo/sensor/gnss/best_pose | 激光雷达最优姿态 |
| apollo::drivers::gnss::Heading | /apollo/sensor/gnss/heading | 组合导航航向 |
输出消息
| 消息名称 | 通道名称 | 功能 |
|---|---|---|
| apollo::localization::LocalizationEstimate | /apollo/localization/pose | 融合定位输出车辆的位置和姿态信息 |
| apollo::localization::LocalizationEstimate | /apollo/localization/msf_lidar | 激光雷达定位输出车辆的位置和姿态信息 |
| apollo::localization::LocalizationEstimate | /apollo/localization/msf_gnss | 组合导航输出 |
| apollo::localization::LocalizationStatus | /apollo/localization/msf_status | 融合定位状态 |
| 参数名 | 默认值 | 功能 |
|---|---|---|
| flagfile | /apollo/modules/common/data/global_flagfile.txt | |
| noenable_gps_imu_interprolate | ||
| local_map_name | local_map | |
| enable_gps_imu_compensate | false | |
| enable_lidar_localization | true | |
| lidar_localization_mode | 2 | |
| lidar_yaw_align_mode | 2 | |
| lidar_filter_size | 17 | |
| point_cloud_step | 2 | |
| lidar_height_default | 1.80 | |
| lidar_imu_lidar_max_delay_time | 0.4 | |
| lidar_map_coverage_theshold | 0.8 | |
| lidar_debug_log_flag | false | |
| integ_ins_can_self_align | false | |
| integ_sins_align_with_vel | ||
| integ_sins_state_check | true | |
| integ_sins_state_span_time | 30.0 | |
| integ_sins_state_pos_std | 1.0 | |
| vel_threshold_get_yaw | 5.0 | |
| enable_ins_aid_rtk | false | |
| eph_buffer_path | "" | |
| gnss_debug_log_flag | false | |
| imu_rate | 1.0 | |
| if_utm_zone_id_from_folder | true | |
| local_utm_zone_id | 10 | |
| trans_gpstime_to_utctime | true | |
| gnss_mode | 0 | |
| lidar_topic | /apollo/sensor/hesai40/compensator/PointCloud2 | |
| lidar_extrinsics_file | /apollo/modules/localization/msf/params/velodyne_params/velodyne64_novatel_extrinsics_example.yaml | |
| imu_coord_rfu | true | |
| gnss_only_init | false | |
| if_imuant_from_file | true | |
| imu_to_ant_offset_x | 0.0 | |
| imu_to_ant_offset_y | 0.788 | |
| imu_to_ant_offset_z | 1.077 | |
| imu_to_ant_offset_ux | 0.05 | |
| imu_to_ant_offset_uy | 0.05 | |
| imu_to_ant_offset_uz | 0.08 | |
| if_vehicle_imu_from_file | true | |
| imu_vehicle_qx | 0.0 | |
| imu_vehicle_qy | 0.0 | |
| imu_vehicle_qz | 0.0 | |
| imu_vehicle_qw | 1.0 | |
| map_visual_dir | data/map_visual | |
| if_use_avx | true |
| 参数名 | 默认值 | 功能 |
|---|---|---|
| localization_topic | /apollo/localization/pose | |
| localization_status_topic | /apollo/localization/msf_status | |
| imu_topic | /apollo/sensor/gnss/corrected_imu | |
| gps_topic | /apollo/sensor/gnss/odometry | |
| gps_status_topic | /apollo/sensor/gnss/ins_stat | |
| broadcast_tf_frame_id | world | |
| broadcast_tf_child_frame_id | localization | |
| imu_frame_id | imu | |
| imu_list_max_size | 20 | |
| gps_imu_time_diff_threshold | 0.02 | |
| map_offset_x | 0.0 | |
| map_offset_y | 0.0 | |
| map_offset_z | 0.0 |
| 包名 | 描述 |
|---|---|
| localization | 定位模块包 |