The V-ROX system is the enhancement of the A-ROX GNSS-INS positioning system. It includes 3 Multi-frequency, Multi-GNSS (GPS + Galileo + Glonass + Beidou) receivers, FOG-performance MEMS IMU, CAN interfaces (for reception of vehicle data (wheel odometry and steering angle) and solution output), 5G module for reception of RTK/ PPP corrections (e.g. from ANavS® G-ROX reference station, and the powerful ANavS® sensor fusion on a single board. The latter one performs a tight coupling of all sensor data with an Extended Kalman Filter (EKF).

On top of the standard sensors a fully integrated computer vision module is equipped, that can be flexibly configured with cameras and 3D-LiDAR.

The default camera configuration is a GMSL2 global shutter wideangle stereo-camera with high-performance IMU, external synchronization and integrated depth estimation, localization and object detection features.

The default LiDAR configuration includes a high-quality 128-channel 3D-LiDAR.

On the one hand, both the camera sensors and the LiDAR sensor provide an additional odometry or positioning information through visual-inertial odometry or Simultaneous Localization and Mapping (SLAM). On the other hand, 2D and 3D maps of the environment or road can be generated. Furthermore, object-detection with 2D or 3D bounding boxes, enabled by deep learning algorithms, allows to add semantic information to the maps and further enhances the SLAM performance.

The additional positioning information obtained from the computer vision module is coupled with GNSS, IMU and wheel odometry information in the tightly coupled sensor fusion, also called centralized filter. This leads to an improved positioning accuracy to overcome also the most challenging environments.

The V-ROX supports both Real-Time Kinematics (RTK) (verlinken) and Precise Point Positioning (PPP) (verlinken). RTK positioning uses measurements from a terrestrial reference station (e.g. from ANavS® G-ROX reference station, that are sent to the V-ROX via internet. PPP uses satellite position, clock offset, phase and code bias corrections that are sent via internet or directly via satellite (using Galileo’s High Accuracy Service, HAS). The RTK positioning typically provides a higher positioning accuracy and faster convergence than PPP, but requires at least a partial internet coverage of your target application region and proper reference station infrastructure.

The V-ROX is ready to use out-of-the-box. With its vacuum cup it can be fast mounted for any kind of automotive test run.