Livox lidar+apx15 real-time high-precision radar map reproduction and sorting

https://github.com/Livox-SDK/livox_high_precision_mapping/blob/master/doc/cn/README.md

Due to heavy dependence gps and rtk service , So the weather has a great influence ,4g Signals are also important , It doesn't work indoors .

The core code is very simple , Just one cpp, use apx-15 Chip positioning and time synchronization , Then add the scanned point cloud increment to the map , You can do it with hardware .

Hardware connection

APX-15 UAV link

Applanix APX-15UAV yes GNSS- Inertial integrated navigation OEM product , Design for mapping system of small UAV . It can reduce the operation cost , Improve mapping efficiency , adopt POS Pac Post processing software , In the field of Surveying and mapping, the ground control points can be cancelled or reduced (GCP) And reduce the lateral overlap of the flight , So as to increase the flying area of each flight item .5000 element
https://www.applanix.com/cn/products/dg-uavs.htm
https://item.taobao.com/item.htm?spm=a230r.1.14.16.158611b4s3cVBY&id=535437203538&ns=1&abbucket=1#detail

• Pick up gps（antenna）

MMCX Interface ： Connect GNSS The antenna （ Input gps）      

• Pick up livox（mid40）

PIN12：GND

PIN13： Output PPS The signal （ Provide hardware time synchronization signal to radar ）

• Pick up jetson（nano）

PIN12：GND

PIN20：COM1 Tx, Output GNRMC data （ Output every time PPS Time information corresponding to the pulse https://www.cnblogs.com/88223100/p/gprm_gnrmc_transform.html）（rs232 turn usb）

PIN12：GND

PIN22：COM3 Tx, Output GSOF Of INS Full Navigation Info data （ Output gps+imu Processed data https://www.trimble.com/OEM_ReceiverHelp/v5.11/en/GSOFmessages_INS-FullNav.html）（ttl turn usb）

• Pick up 4g wireless network adapter （huawei wifi 2 pro）

PIN27/29/31/33：RJ45 Wired network interface , For transmission network RTK service NTRIP data .（ Transfer cable connection 4g The Internet )（RTK Service is to make gps The accuracy of is improved from meter level to centimeter level , Use the surrounding base station signal carrier analysis , paid ）

• Connect the power supply

PIN42： Power Supply GND

PIN44： Power Supply +24v Input

Other links

GNSS signal：GPS The antenna , to APX-15 Provide satellite signals ;

NTRIP： Network interface , For wireless network module and APX-15 Interactive network between RTK Service NTRIP data ;

PPS：TTL Level interface , to Mid-40 Provide hardware time synchronization signal ;

Point Data：Manifold and Livox The adapter box passes through the network port , transmission Mid-40 Point cloud data ;

GNRMC：USB turn RS232 level , Access Manifold, to Mid-40 Provide each time PPS Time information corresponding to the pulse ;

GSOF：USB turn TTL level , Access Manifold, transmission APX-15 Output attitude 、 Location data ;

Power： Use 24v DC power supply , to Manifold、Mid-40、APX-15 Power supply ;

Software execution

https://github.com/Livox-SDK/livox_high_precision_mapping/blob/master/doc/cn/README.md