What is the relation between gps_location and kinematic.position ?

[husha1993]

state = client.getMultirotorState() >>> print(state) { 'collision': { 'has_collided': False, 'impact_point': { 'x_val': -0.458686500787735, 'y_val': 0.46160826086997986, 'z_val': 0.8734759092330933}, 'normal': { 'x_val': 1.2552852979297313e-08, 'y_val': -1.551507899932858e-08, 'z_val': -1.0}, 'object_id': 148, 'object_name': 'Ground_2', 'penetration_depth': 0.0, 'position': { 'x_val': -0.1347363293170929, 'y_val': 0.1346159279346466, 'z_val': 0.640691876411438}, 'time_stamp': 1524508567475629824}, 'gps_location': { 'altitude': 153.76217651367188, 'latitude': 47.641889518189664, 'longitude': -122.1397859350692}, 'kinematics_estimated': { 'angular_acceleration': { 'x_val': -1.3302257684699725e-05, 'y_val': -3.7064401112729684e-06, 'z_val': 7.244060580815165e-19}, 'angular_velocity': { 'x_val': -3.008369731105631e-08, 'y_val': -4.785919216487855e-09, 'z_val': 1.1462851290389153e-07}, 'linear_acceleration': { 'x_val': -5.6665054870563836e-08, 'y_val': 7.27874223116487e-08, 'z_val': 0.0}, 'linear_velocity': { 'x_val': -0.00013495524763129652, 'y_val': -0.0003126846277154982, 'z_val': 0.0002836277417372912}, 'orientation': { 'w_val': 0.9999710917472839, 'x_val': 3.6738694308979802e-09, 'y_val': 2.9185183159086137e-09, 'z_val': -0.007601920515298843}, 'position': { 'x_val': -9.97673225402832, 'y_val': 29.43096160888672, 'z_val': -29.742185592651367}}, 'kinematics_true': { 'angular_acceleration': { 'x_val': -1.3302257684699725e-05, 'y_val': -3.7064401112729684e-06, 'z_val': 7.244060580815165e-19}, 'angular_velocity': { 'x_val': -3.008369731105631e-08, 'y_val': -4.785919216487855e-09, 'z_val': 1.1462851290389153e-07}, 'linear_acceleration': { 'x_val': -5.6665054870563836e-08, 'y_val': 7.27874223116487e-08, 'z_val': 0.0}, 'linear_velocity': { 'x_val': -0.00013495524763129652, 'y_val': -0.0003126846277154982, 'z_val': 0.0002836277417372912}, 'orientation': { 'w_val': 0.9999710917472839, 'x_val': 3.6738694308979802e-09, 'y_val': 2.9185183159086137e-09, 'z_val': -0.007601920515298843}, 'position': { 'x_val': -9.97673225402832, 'y_val': 29.43096160888672, 'z_val': -29.742185592651367}}, 'timestamp': 1524509096467914752}

As we can see, there is gps_location and kinematics.position, and I cann't find any explanations on the relation of the two in the paper.
What is the relation between gps_location and kinematic.position?

Thanks.

[sytelus]

GPS location is lat,long while kinematic position is coordinates in NED system in SI units.

[husha1993]

I see, thanks.
Could you point out the geodetic latitude of local origin (reference) point?
I tried to transform the local NED to the geodestic location, and I use the Matlab function:
https://www.mathworks.com/help/map/ref/ned2geodetic.html
which requires the local geodetic latitude of local origin (reference) point, and I didn't find it in the paper.

Thanks.

[sytelus]

Its done by HomeGeoPoint setting: https://github.com/Microsoft/AirSim/blob/master/AirLib/include/common/AirSimSettings.hpp#L266

[husha1993]

%'gps_location': { 'altitude': 153.76217651367188, 'latitude': 47.641889518189664, 'longitude': -122.1397859350692},
%'position': { 'x_val': -9.97673225402832, 'y_val': 29.43096160888672, 'z_val': -29.742185592651367}}
[x,y,z]=geodetic2ned(47.641889518189664,-122.1397859350692,153.76217651367188,47.641468,-122.140165,122, referenceSphere('Earth'));
x = 46.8719
y = 28.3998
z = -31.7619
I thought the (x,y,z) would equal (x_val, y_val, z_val), do I misunderstand the 'gps_location' and 'position'?

[stale]

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