2.2. High-precision sensor fusion
Vision-RTK 2 provides accurate and reliable position, velocity, and orientation measure-
ments by fusing visual odometry with several sensor data streams, including in extended
GNSS outages.
2.3. Supported dynamics models
Vision-RTK 2 supports several navigation modes to adjust to different platforms’ specific
dynamics. These modes capture the data streams from the selected vehicle type and
tune the sensor fusion algorithm to improve performance based on the platform restric-
tions. Table 2.1 summarizes the characteristics of each tuning mode.
Mode Application v range ω range
Car
Dynamics similar to that of a passenger
car.
±22 m/s 0.5 rad/s
Handheld
Dynamics similar to that of a human gait.
±3 m/s 1.5 rad/s
Lawnmower
Dynamics similar to that of a lawnmower
robot.
±3 m/s 1.0 rad/s
Slow robot
Dynamics similar to that of a slow-moving
utility robot.
±3 m/s 0.5 rad/s
Table 2.1.: Supported sensor fusion modes
·v: Velocity
·ω: Angular velocity
Enabling a wheelspeed sensor is recommended for optimal performance. All tuning
modes except handheld support wheelspeed. Note that the above v and ω values cor-
respond to the expected dynamics for these vehicles. However, even though the sensor
does not strictly enforce these ranges, exceeding these values can degrade performance.
Vision-RTK 2 | Fixposition Positioning Sensor 4
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