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Precise location from ublox raw gnss - using RTK or PPP? #247

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kozuch opened this issue May 17, 2018 · 8 comments
Closed

Precise location from ublox raw gnss - using RTK or PPP? #247

kozuch opened this issue May 17, 2018 · 8 comments

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@kozuch
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kozuch commented May 17, 2018

I found out you started selling the "panda grey" with ublox gnss. I wonder how precise location do you get from this because for a cm level precision you also need data from nearby base station... (say max 20 km away). Do you use the NGS CORS network for RTK post-processing? Or do you use PPP service only?

@jfrux
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jfrux commented Jun 22, 2018

From my understanding, don't take my word for it... there is no base station piece to this.
Apparently the precision with just the panda grey is good enough for OpenPilot's purposes.

@kozuch
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kozuch commented Jun 22, 2018

No, you definitely are wrong. Currently there is no HW on the market (at least not in the price range of panda's GNSS receiver) that would allow for a 10 cm positioning precision (which comma.ai claims) without the use of corrections from a nearby base station. This may change in the future but today the situation looks like this.

@jfrux
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jfrux commented Jun 22, 2018

If you already knew how OpenPilot is using it, then why post the issue? Are you just trolling?

@bugsy924
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It's definitely using base stations for correction. If I recall correctly it was with NASA's or some other government related network. Float RTK is easily done, unsure of fixed as I've only heard from others' experiences

@kozuch
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kozuch commented Jun 22, 2018

@jfrux

I am asking for details of their precise positioning solution because not a single official word was told about that. Precise positioning is usually not a trivial task to do.

@jfrux
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jfrux commented Jun 22, 2018

@kozuch Okay, sorry about that. Didn't mean to jump to conclusions...
My guess is you might not get an answer on a GitHub issue since this isn't really the place for it.

If you want a real answer, might want to get connected to Comma Slack at https://comma.slack.com/.
Thanks Jan, take it easy.

@martinl
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martinl commented Jun 23, 2018

You can check the source for answers if you speak python: https://github.com/commaai/openpilot/blob/devel/selfdrive/locationd/ubloxd.py

@geohot
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geohot commented Jun 24, 2018

We use a variety of sources on the backend, including CORS. The goal is to recover trajectories with <10cm accuracy in post, build a map, then use the map to localize to <10cm in real time. Of course, everything takes time to build.

@geohot geohot closed this as completed Jun 24, 2018
dylanl321 pushed a commit to dylanl321/openpilot that referenced this issue Apr 28, 2019
pd0wm pushed a commit that referenced this issue Jul 22, 2019
45d0d28 remove whitespace (#255)
e49d0db Pedal: use avg between tracks (#253)
c597dcc VERSION update after health packet changes and minor misra test change
01072be Misra 11.x: pointer usage. (#250)
fd68c26 Propagate can_push errors (#249)
ce1daf2 Misra check only done for EON config
70d4fd7 cleanup docker container on failure
04756a0 Turning back Misra check: unvoluntarily change
fcb1208 fix weird code in USB_ReadPacket
b983cc8 Re-wrote test_misra.sh
0b19206 Misra 17.7: The value returned by a function having non-void return type shall be used. We should hang on initial failed safety_set_mode
06ee8bd Ignore Misra 5.4 until cppcheck bug (?) is fixed
4be8582 Update cppcheck commit and pass predefined params to avoid impossible combinations of configs
f45dd04 cppcheck: ignore redundantAssignment and selfAssignment for registers in llcan.h
9ce6311 Misra 12.1 (operator order) and 10.4 (incompatible essential types) fixes, arised after properly checking UID_BASE config
1cd34e5 Explicitly set the define and undefine for unknown configs in misra checks
5a02499 remove esp flash from run_automated_tests.sh
23e3684 Cppcheck unused functions (#247)
c97d60b Removed bad language
b031480 Missed adding Dockerfile
91ff6bb Run language checker in CI
205ec34 Improved language checker
f7bbab0 Language checker test
d9d0a62 Misra 5.5: missed this change from previous PR
85fa3c0 Misra 5.5: Identifiers shall be distinct from macro names (#246)
190d604 Pedal: 2 minor fixes to Misra 15.7 (else needed) and 17.7 (non-void output must be used)
8ea01ff Pedal: no built-in functions to avoid puts and putc re-definitions
1f40d1e Misra pedal (#245)
a4554e3 Ignore advisory Misra 19.2: the union keyword should not be used
e6dc417 Minor indent error
247e128 Fix strict compiler on bootstub build
ba68569 Removed build strict test and enabled -Werror flag
da11f0f safety replay: update openpilot-tools after logreader fix
fc8b9e4 Cppcheck: also check pedal
f7bd2c2 Misra 10.4: fix last 2 violations (#242)
9be5fde finished misra 17.8 (#241)
3c3aba3 Misra 10.4: Both operands of an operator in which the usual arithmetic conversions are performed shall have the same essential type category (#240)
f2a3a17 Misra 15_7: fix what seems to be a false positive of cppcheck
812ace5 Misra 15_7: if … else if constructs should be terminated with an else clause (#230)
79e9735 rename 5_wifi_udp.py
3c3ff0c Update Jenkinsfile (#239)
1bd9284 Misra 17.7: the value returned by a function having non-void return shall be used (#237)
18c9e88 Merge pull request #238 from commaai/misra_17_8
7ac321d Merge pull request #235 from commaai/memxxx
004e543 Jenkins: run EON test first
4bff286 Merge branch 'memxxx' of github.com:commaai/panda into memxxx
7cd80de typo
385e33b 12.1 regression
955842b WIP
ea908cb 10_1 violations: Operands shall not be of an inappropriate essential type (#233)
fa33038 Fix Misra 5.3: An identifier declared in an inner scope shall not hide an identifier declared in an outer scope (#236)
ebfe1c5 Merge branch 'master' of github.com:commaai/panda into memxxx
8c11470 Fix EON test case
64e18e8 fix inverted logic to differentiate between dev and EON panda builds
36755a0 Merge branch 'master' of github.com:commaai/panda into memxxx
e2981d6 skip wifi tests for EON panda build
db2eec9 Merge branch 'master' of github.com:commaai/panda into memxxx
11257e7 Ignore test 5_wifi_udp.py_ignore: too unreliable for now
6973c2a fix wifi tests
cf6985a memxxx function changes to be Misra compliant
3a6cd29 wifi threshold perc back to 20%. Problem wasn't this.
d92a035 faster docker build for safety replay
3e9469b Fixing tests after min->MIN  change
ecb9b6c Revert "Misra 10 1: Operands shall not be of an inappropriate essential type (#232)"
8732e4f Misra 10 1: Operands shall not be of an inappropriate essential type (#232)

git-subtree-dir: panda
git-subtree-split: 45d0d28
avolmensky pushed a commit to avolmensky/openpilot that referenced this issue Aug 6, 2019
* Skip cppcheck on unused functions that are consumed in large headers we can't pass to cppcheck
emmertex added a commit to emmertex/openpilot that referenced this issue Aug 17, 2019
* Better Panda

* 0.6.0.2 Untested

* update releases

* bug

* Send fingerprints to Sentry

* Refactor default Civic params (commaai#720)

* move civic params out

* fix variable name

* simplify ford scaling

* cleanup

* remove import dependency

* requested changes

* keep hyundai

* 2019 Rav4 Limited AWD (commaai#732)

* Fingerprint

* Merge Limited and XLE fingerprint because they're the same

* 0.6.0.3 - Untested

* no mapd just yet

* Remote ASL

* Done

* panda too

* mapd, auto speed and cloudlog

* start mapd

* Test

* bug

* fix spacing in toyota/carstate.py (commaai#736)

* better code

* bug

* bug

* bug

* bug

* bug

* tweak

* Fix lane centering with single lane line (commaai#737)

* add loggered, gpsd, sensord to gitignore (commaai#735)

* Improve Toyota Highlander tuning from commaai#690

* Added 2019 Toyota Highlander (commaai#739)

Tested latest commit on ICE version, and it worked flawlessly out of box.  Fantastic experience.

* Use standard steer angle sensor in DSU-less pre-TSS2 Toyota. (commaai#751)

* Squashed 'cereal/' changes from 9f2076e..4ea03ba

4ea03ba add speed
2198ad2 add alert for invalid posenet
9c18b3b rename to posenetValid
42669a8 add posenet debug fields to LiveParameters
852846f add whether point is detected by radar
1684698 add model prob
fb87dba added HW type to support various panda versions
820bf7b added tooDistracted event
1105dc1 different name
45c4249 add second model lead
f8c557f Log can errors from panda
04f105a back
ff93320 add lead stuff

git-subtree-dir: cereal
git-subtree-split: 4ea03ba

* Squashed 'panda/' changes from ae816c1..45d0d28

45d0d28 remove whitespace (commaai#255)
e49d0db Pedal: use avg between tracks (commaai#253)
c597dcc VERSION update after health packet changes and minor misra test change
01072be Misra 11.x: pointer usage. (commaai#250)
fd68c26 Propagate can_push errors (commaai#249)
ce1daf2 Misra check only done for EON config
70d4fd7 cleanup docker container on failure
04756a0 Turning back Misra check: unvoluntarily change
fcb1208 fix weird code in USB_ReadPacket
b983cc8 Re-wrote test_misra.sh
0b19206 Misra 17.7: The value returned by a function having non-void return type shall be used. We should hang on initial failed safety_set_mode
06ee8bd Ignore Misra 5.4 until cppcheck bug (?) is fixed
4be8582 Update cppcheck commit and pass predefined params to avoid impossible combinations of configs
f45dd04 cppcheck: ignore redundantAssignment and selfAssignment for registers in llcan.h
9ce6311 Misra 12.1 (operator order) and 10.4 (incompatible essential types) fixes, arised after properly checking UID_BASE config
1cd34e5 Explicitly set the define and undefine for unknown configs in misra checks
5a02499 remove esp flash from run_automated_tests.sh
23e3684 Cppcheck unused functions (commaai#247)
c97d60b Removed bad language
b031480 Missed adding Dockerfile
91ff6bb Run language checker in CI
205ec34 Improved language checker
f7bbab0 Language checker test
d9d0a62 Misra 5.5: missed this change from previous PR
85fa3c0 Misra 5.5: Identifiers shall be distinct from macro names (commaai#246)
190d604 Pedal: 2 minor fixes to Misra 15.7 (else needed) and 17.7 (non-void output must be used)
8ea01ff Pedal: no built-in functions to avoid puts and putc re-definitions
1f40d1e Misra pedal (commaai#245)
a4554e3 Ignore advisory Misra 19.2: the union keyword should not be used
e6dc417 Minor indent error
247e128 Fix strict compiler on bootstub build
ba68569 Removed build strict test and enabled -Werror flag
da11f0f safety replay: update openpilot-tools after logreader fix
fc8b9e4 Cppcheck: also check pedal
f7bd2c2 Misra 10.4: fix last 2 violations (commaai#242)
9be5fde finished misra 17.8 (commaai#241)
3c3aba3 Misra 10.4: Both operands of an operator in which the usual arithmetic conversions are performed shall have the same essential type category (commaai#240)
f2a3a17 Misra 15_7: fix what seems to be a false positive of cppcheck
812ace5 Misra 15_7: if … else if constructs should be terminated with an else clause (commaai#230)
79e9735 rename 5_wifi_udp.py
3c3ff0c Update Jenkinsfile (commaai#239)
1bd9284 Misra 17.7: the value returned by a function having non-void return shall be used (commaai#237)
18c9e88 Merge pull request commaai#238 from commaai/misra_17_8
7ac321d Merge pull request commaai#235 from commaai/memxxx
004e543 Jenkins: run EON test first
4bff286 Merge branch 'memxxx' of github.com:commaai/panda into memxxx
7cd80de typo
385e33b 12.1 regression
955842b WIP
ea908cb 10_1 violations: Operands shall not be of an inappropriate essential type (commaai#233)
fa33038 Fix Misra 5.3: An identifier declared in an inner scope shall not hide an identifier declared in an outer scope (commaai#236)
ebfe1c5 Merge branch 'master' of github.com:commaai/panda into memxxx
8c11470 Fix EON test case
64e18e8 fix inverted logic to differentiate between dev and EON panda builds
36755a0 Merge branch 'master' of github.com:commaai/panda into memxxx
e2981d6 skip wifi tests for EON panda build
db2eec9 Merge branch 'master' of github.com:commaai/panda into memxxx
11257e7 Ignore test 5_wifi_udp.py_ignore: too unreliable for now
6973c2a fix wifi tests
cf6985a memxxx function changes to be Misra compliant
3a6cd29 wifi threshold perc back to 20%. Problem wasn't this.
d92a035 faster docker build for safety replay
3e9469b Fixing tests after min->MIN  change
ecb9b6c Revert "Misra 10 1: Operands shall not be of an inappropriate essential type (commaai#232)"
8732e4f Misra 10 1: Operands shall not be of an inappropriate essential type (commaai#232)

git-subtree-dir: panda
git-subtree-split: 45d0d28

* Squashed 'opendbc/' changes from 38650f842..e1955ba06

e1955ba06 Nissan: Added nissan_2017.dbc (commaai#173)
c89eb71df properly generate Lexus 350 dbc file
d08059c77 Lexus RX 350 DBC (commaai#170)

git-subtree-dir: opendbc
git-subtree-split: e1955ba06e3308dbbfb4bcda78d0e6495bc9ff7e

* openpilot v0.6.1 release

* self.poller not used (commaai#759)

I do not see the need for zmq and the poller being initialized and not used.

* Remove offset from curvature (commaai#761)

* Update README.md (commaai#766)

* Squashed 'cereal/' changes from 4ea03ba..748002c

748002c angle calib desc
27db4a7 add camera rpy angle msg
a71c4fa deprecate old dm model output
6c6ab96 remove hwType from ThermalData. Decided to have health at higher freq instead. This will make last 24H of collected data unreadable. Sorry.
f27249e Add fields for LQR lateral control
654860c add decelForModel
995b558 add longitudinal plan source
222f2de add eye stuff
eebf268 hasGps is a better name than hasGpsAntenna
12da45f Blackpanda (#4)

git-subtree-dir: cereal
git-subtree-split: 748002c

* Squashed 'panda/' changes from 45d0d28..519e39e

519e39e Changed heartbeat timeout to be 2 seconds on no ignition
996dc40 Added heartbeat to black loopback testing
79b44cb bump version
59f5813 Black (commaai#254)
0964866 no need to store safety only misra output anymore

git-subtree-dir: panda
git-subtree-split: 519e39e

* Squashed 'opendbc/' changes from e1955ba06..7684440b1

7684440b1 chrysler: increase size of ACCEL_134 (commaai#174)

git-subtree-dir: opendbc
git-subtree-split: 7684440b14253f03b7420c4b24da5fbdeb0b9954

* openpilot v0.6.2 release

* Fix timeout in longitudinal test (commaai#772)

* Fix timeout in longitudinal test

* Update hyundaican for Correct Message ID on LKAS11 (commaai#746)

This is the only trace of CF_Lkas_Icon found under /car/hyundai relative to open .dbc

commaai/opendbc#172

* Revert "Update hyundaican for Correct Message ID on LKAS11 (commaai#746)" (commaai#775)

This reverts commit 1f1893a.

* Correct Message ID on LKAS11 under Openpilot .dbc (commaai#747)

commaai/opendbc#172

* Revert "Revert "Update hyundaican for Correct Message ID on LKAS11 (commaai#746)" (commaai#775)"

This reverts commit d5242c5.

* Remove Min Speed Steer Disengage

* Fix lane centering with single lane line (#38)

add fix of openpilot dev commaai#737

* Update STEER_DELTA_DOWN - Temp Remove CLU11 (#43)

* update min speed and support genesis

* Stock LKAS not allowed to enagage (@xx979xx)

* Reinsate CLU11 with xx979 changes

* panda

* bugs

* bug

* No  Low Speed (yet)

* fix checksumc error

* attempt fix of cjhecksum discover

* Low Speed Alert

* update version

* Update version
cfranyota pushed a commit to cfranyota/openpilot-retired that referenced this issue Dec 16, 2019
* Fix ordinals in car.capnp

* Fix ordinals in car.capnp again

* Fix AccState for GM and disable mock radar for now

* Default stock UI for now

* Revert to stock UI for now

* Fix steer_rate_cost

* Fix bus in safety_honda

* Fix self.steer_rate_cost

* Fix steer_rate_cost and other stuff

* Moar pathplanner.py fixes

* Fix gm/carcontroller for fcw var

* Remove FCW_OFF_2 which is missing from some DBCs

* Remove ICONS from hondacan for DBCs that are missing values

* Remove all FCM and extra signals

* Disable Kegman lkas blinker disable for Comma's ALC

* Disable Blinker Eon screen alert in favour of Comma ALCA

* Enable Comma's Auto Lane ChangeEnable Comma's Auto Lane Change

* Reinstate devUI

* Fix GM fcw

* Fix carcontroller.py for GM and Toy
kegman pushed a commit to kegman/openpilot that referenced this issue Dec 24, 2019
* Fix ordinals in car.capnp

* Fix ordinals in car.capnp again

* Fix AccState for GM and disable mock radar for now

* Default stock UI for now

* Revert to stock UI for now

* Fix steer_rate_cost

* Fix bus in safety_honda

* Fix self.steer_rate_cost

* Fix steer_rate_cost and other stuff

* Moar pathplanner.py fixes

* Fix gm/carcontroller for fcw var

* Remove FCW_OFF_2 which is missing from some DBCs

* Remove ICONS from hondacan for DBCs that are missing values

* Remove all FCM and extra signals

* Disable Kegman lkas blinker disable for Comma's ALC

* Disable Blinker Eon screen alert in favour of Comma ALCA

* Enable Comma's Auto Lane ChangeEnable Comma's Auto Lane Change

* Reinstate devUI

* Fix GM fcw

* Fix carcontroller.py for GM and Toy
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