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I am working with a multi sensor RTK-GNSS for localization of my robot.

This is the data I am getting from the GNSS system.

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How to relate this data to my robot map frame for navigation?

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  • $\begingroup$ I see relative position in meters right there- does the interface allow you to set the origin of the relative position to your current location or any coordinates? Otherwise are you wanting a method to convert latitude/longitude/altitude to distance relative to a reference point of your choosing in code? I left a comment on robotics.stackexchange.com/questions/24117/… which could be helpful, if you are interested in that I'll expand it out into a full answer using python and geopy $\endgroup$ Dec 24, 2022 at 16:44
  • $\begingroup$ You must use UTM coordinates. Read this answer here: robotics.stackexchange.com/a/24124/7097 and take a look to this python package here. Basically you need to define a point on your map using the UTM coordinates. Then you get a GNSS position, convert it to UTM and use conventional math calculation to find out the position on your map $\endgroup$
    – Dave
    Dec 27, 2022 at 11:50

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