├── Integrating Livox LiDARs with INS.md ├── README.md └── doc ├── apx-block-diagram.png └── uins-block-diagram.png /Integrating Livox LiDARs with INS.md: -------------------------------------------------------------------------------- 1 | # 1 Background 2 | 3 | With their high performance, Livox LiDARs can be used in a variety of applications including autonomous driving, UAVs, high precision mapping. Among these applications, it is a common practice to fuse the LiDAR point cloud data with a GNSS-INS system to compensate any motion during the data collection. In this document, we provide some references for users to integrate Livox LiDARs to a GNSS-INS system. We will take two GNSS-INS modules as explanatory examples: [APX-15](https://www.applanix.com/downloads/products/specs/APX15_DS_NEW_0408_YW.pdf) and [uINS Module](https://inertialsense.com/µins-rtk/#INS-sensors). 4 | 5 | # 2 Integrating with APX-15 6 | 7 | ## 2.1 List of Devices 8 | 9 | 1. Livox MID-40 10 | 2. Livox Converter 11 | 3. [APX-15 module](https://www.applanix.com/products/dg-uavs.htm "test") 12 | 4. [TTL-RS485 Converter](https://www.amazon.com/NOYITO-Multi-Machine-Communication-Ultra-Long-Distance-Transmission/dp/B07BJJ7ZF8/ref=sr_1_16?ie=UTF8&qid=1548410775&sr=8-16&keywords=ttl+to+rs485) 13 | 5. USB to RS232 module 14 | 6. Onboard Computer with SD card([Raspberry Pi 3 B+](https://www.raspberrypi.org/products/raspberry-pi-3-model-b/)) 15 | 7. [DC-DC Converter](https://www.amazon.com/uxcell-Converter-Regulator-Transformer-Waterproof/dp/B01ARRAWE4/ref=sr_1_5_acs_ac_3?ie=UTF8&qid=1548669239&sr=8-5-acs&keywords=24v%2Bto%2B12v%2Bdc%2Bconverter&th=1)(Ouput:12V, 10A for Livox LiDAR) 16 | 8. [DC-DC Converter](https://www.amazon.com/DROK-Synchronous-Transformer-Electromobile-Automotive/dp/B00KL770IC/ref=sr_1_7?ie=UTF8&qid=1548859639&sr=8-7&keywords=24V+to++5V)(Output:5V, 3A for Raspberry Pi) 17 | 18 | ## 2.2 System Block Diagram 19 | 20 | ![](doc/apx-block-diagram.png) 21 | 22 | Remarks: 23 | 24 | 1. The required voltage range for Livox MID-40, Raspberry Pi, and APX-15 are 10-16V, 5V and 8-32V, respectively. DC-DC converters with proper output voltage level are needed in case Vdc is not in the respective range. 25 | 2. The PPS output of APX-15 is in TTL level, while the PPS input of Livox MID-40 is RS485. A TTL-RS485 Converter is needed to convert the signal level. 26 | 3. Livox MID-40 transmits point cloud data to Raspberry Pi via Ethernet port. 27 | 4. APX-15 transmits pose and time information($GNRMC) to Raspberry Pi via RS232 port. 28 | 6. GPS antenna of the APX-15 should be placed at proper locations to avoid interference from other modules. 29 | 7. We recommend using [Jetson TX2](https://developer.nvidia.com/embedded/jetson-tx2) or [DJI manifold-2]( https://www.dji.com/cn/manifold-2) instead of Raspberry Pi because they have better performance. 30 | 31 | # 3. Integration with uINS 32 | 33 | ## 3.1 List of Devices 34 | 35 | 1. Livox MID-40 36 | 2. Livox Converter 37 | 3. [uINS Module](https://inertialsense.com/µins-rtk/#INS-sensors) 38 | 4. [TTL-RS485 Converter](https://www.amazon.com/NOYITO-Multi-Machine-Communication-Ultra-Long-Distance-Transmission/dp/B07BJJ7ZF8/ref=sr_1_16?ie=UTF8&qid=1548410775&sr=8-16&keywords=ttl+to+rs485) 39 | 5. USB to TTL module 40 | 6. Onboard Computer with SD card([Raspberry Pi 3 B+](https://www.raspberrypi.org/products/raspberry-pi-3-model-b/)) 41 | 7. [DC-DC Converter](https://www.amazon.com/uxcell-Converter-Regulator-Transformer-Waterproof/dp/B01ARRAWE4/ref=sr_1_5_acs_ac_3?ie=UTF8&qid=1548669239&sr=8-5-acs&keywords=24v%2Bto%2B12v%2Bdc%2Bconverter&th=1)(Ouput:12V, 10A for Livox LiDAR) 42 | 8. [DC-DC Converter](https://www.amazon.com/DROK-Synchronous-Transformer-Electromobile-Automotive/dp/B00KL770IC/ref=sr_1_7?ie=UTF8&qid=1548859639&sr=8-7&keywords=24V+to++5V)(Output:5V, 3A for Raspberry Pi) 43 | 44 | ## 3.2 System Block Diagram 45 | 46 | ![](doc/uins-block-diagram.png) 47 | 48 | Remarks: 49 | 50 | 1. The required voltage range for Livox MID-40, Raspberry Pi, and uINS are 10-16V, 5V and 4-20V, respectively. DC-DC converters with proper output voltage level are needed in case Vdc is not in the respective range. 51 | 2. The PPS output of uINS is in TTL level, while the PPS input of Livox MID-40 is RS485. A TTL-RS485 Converter is needed to convert the signal level. 52 | 3. Configure uINS to output time($GPRMC) information through Serial 0 port with TTL level. You don’t need a USB to TTL module, if you connect pin7 directly to the UART RX port of Raspberry Pi or other PC(if it has UART port). 53 | 4. Configure uINS to output position and attitude data through USB port. These two(time data and imu data) do not use the same port because the synchronization program will occupy a single COM port. 54 | 5. We recommend using [Jetson TX2](https://developer.nvidia.com/embedded/jetson-tx2) or [DJI manifold-2]( https://www.dji.com/cn/manifold-2) instead of Raspberry Pi because they have better performance. 55 | 56 | # 4. Time Synchronization 57 | 58 | In the latest SDK(v2.0.0+) and ROS driver, we have integrated the time synchronization logic. 59 | 60 | ## 4.1 Use ROS driver 61 | 62 | - Connect the hardware according to the above block diagram; 63 | - View the name of the port receiving time data(GPRMC/GNRMC) in the system, such as `/dev/ttyUSB0`, configure "device_name" to this name in the file [livox_lidar_config.json](https://github.com/Livox-SDK/livox_ros_driver/blob/master/livox_ros_driver/config/livox_lidar_config.json), and set "enable_timesync" to `true`; 64 | - Run the launch file; 65 | 66 | If all goes well, the timestamp in every point cloud package will be aligned with the GPS time. 67 | 68 | ## 4.2 Use only SDK 69 | 70 | The link below is an example showing how to synchronize using only SDK: 71 | 72 | [https://github.com/Livox-SDK/Livox-SDK/tree/master/sample_cc/lidar_utc_sync](https://github.com/Livox-SDK/Livox-SDK/tree/master/sample_cc/lidar_utc_sync) 73 | 74 | 75 | 76 | 77 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Official Q&A Site 2 | 3 | https://groups.google.com/forum/#!forum/livox-lidars 4 | 5 | # LivoxIntegration 6 | Guidelines for integrating Livox LiDARs with other sensors. 7 | -------------------------------------------------------------------------------- /doc/apx-block-diagram.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Livox-SDK/LivoxIntegration/1fd64480dd575290f73893acd594e4b9be1d791b/doc/apx-block-diagram.png -------------------------------------------------------------------------------- /doc/uins-block-diagram.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Livox-SDK/LivoxIntegration/1fd64480dd575290f73893acd594e4b9be1d791b/doc/uins-block-diagram.png --------------------------------------------------------------------------------