OpenMMS Version 2.0

Hi Luka,

Thanks for starting this topic! I am very pleased to see the community’s response to and interest in the OpenMMS v2.0 R&D. For complete transparency, I am in the final stages of my geomatics graduate studies work at UF which occupies >90% of my time and energy, so progress on the v2.0 R&D is going to be slow for at least the next few months. That being said, here are the planned initial R&D tasks:

1. Modify the existing aluminum case design of v1.3 to enable the installation of the Livox Horizon lidar sensor. Thankfully the wiring of the Horizon is practically identical to the Mid-40 so connecting the Horizon to the internal circuitry requires no additional modifications.
2. Modify the existing openmms_controller_livox.py to enable the collection of the raw IMU observations from the Horizon sensor.
3. Update the respective lever arm offsets for the new lidar sensor and perform an in situ boresight calibration for the lidar sensor and Sony mapping camera.
4. Collect and process datasets (using the existing OpenMMS post-processing workflow) to verify the accuracy and performance of the new Horizon lidar sensor.

These preceding steps will establish a baseline accuracy and performance reference for comparing and quantifying the proposed trajectory solution produced using the Livox IMU and the Emlid GNSS sensors.

5. Temporarily install the Emlid Reach M2 GNSS sensor and Tallysman GNSS antenna on the outside of the OpenMMS case and estimate the respective lever arm offsets.
6. Operate the Reach M2 as a standalone sensor (using the ReachView app) and collect raw GNSS observations at the same time as collecting data using the OpenMMS sensor (i.e., GNSS + IMU observations from the Applanix APX-18 and lidar + IMU observations from the Livox Horizon).
7. Explore using NovAtel’s Inertial Explorer Xpress GNSS-INS post-processing software to generate a trajectory using the raw GNSS observations from the Reach M2 sensor and the raw IMU observations from the Horizon sensor.
8. Compare and quantify the new trajectory against the APX-18 reference.
9. If the suitability of the new trajectory solution is confirmed, then the next round of R&D will focus on the hardware integration of the Emlid Reach M2 GNSS sensor within the OpenMMS case and electronic circuitry.

If the IMU observations from the Livox Horizon prove to not be of satisfactory quality, then other standalone IMU sensors can be explored using a similar approach.

Also… finding, leveraging, or developing a robust, rigorous, open-source post-processing GNSS+IMU software solution is a big goal of OpenMMS and will always be kept in mind within the v2.0 R&D. Any help from the community on this goal would be greatly appreciated!

Thanks for reading,

Ryan

Hei Ryan.
Great work you have hear! Congrats. I’m working a similar project but using the Reach RS2 in a ground vehicle, the Livox 40 , Sony DSC-RX1R Mark II and the Micasense Altum.

As you say, I believe that the hardest part of your and my project will be the post processing for the Lidar. I will let you know how it goes, if you are interested!

Hi Ryan,
thank you Ryan for your hard work.

I have the same low cost equipment, m2 + Horizon and PI4.

Maybe Inertial Explorer is a good choice. I’ve tried but not too far.

I’m an amateur, I wish you success and in the future can share the best results about this project

Hi Ryan,
Really excellent work!!

Interested with the progress of OpenMMS version 2.0, is it still on progress?

Many thanks fo your hard work.

I cannot find any details about ver 2.0 and hardware docs pages are still about ver 1.3 Is there any page where I can see details related to this new version?

Hello, Everyone.

Thanks for the inquiries into OpenMMS v2.0. It’s been a busy and stressful last 12 months, to say the least. Unfortunately, my research and work on hardware advancements, bug fixes, and other general improvements have not come to fruition yet. I hope to start dedicating time on a weekly basis to begin the hardware integration of the Livox Horizon lidar sensor (and internal IMU) and the Emlid Reach M2 GNSS sensor into the project. Once this is done, then the big task of developing an open-source GNSS-INS post-processing solution can begin.

I appreciate everyone’s continued interest (and patience)!

All the best,
Ryan

Hi Ryan
Thank you so much for the great work you have done,
is there any news about the progress of the work?
thank you very much