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tf 

<node pkg="tf" type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 0 /world /map 100" />
<node pkg="tf" type="static_transform_publisher" name="odom_to_map" args="0 0 0 0 0 0 /map /odom 100" />
<node pkg="tf" type="static_transform_publisher" name="velodyne_to_base" args="0 0 0 0 0 0 /base_link /velodyne_0 100" />

second experiment

Conventional

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lonMeanEr_ 1.55570233048 lonstd_---- 4.95163885632
mean error 14.679322804 error std 4.7559430884
percent_1= 0.493975903614 percent_2= 0.987951807229 percent_3= 0.0
totalMeanEr_ 36.799807274 Totalstd_---- 20.4856565982
latMeanEr_ -12.5926731937 latstd_---- 5.04138384786
lonMeanEr_ 1.55168738452 lonstd_---- 4.95165897627
mean error 14.679322804 error std 4.7559430884
percent_1= 0.493975903614 percent_2= 0.987951807229 percent_3= 0.0
totalMeanEr_ 36.8171458708 Totalstd_---- 20.4865013895
latMeanEr_ -12.5930130293 latstd_---- 5.03936646918
lonMeanEr_ 1.54767890906 lonstd_---- 4.95167581616
mean error 14.679322804 error std 4.7559430884
percent_1= 0.493975903614 percent_2= 0.987951807229 percent_3= 0.0
totalMeanEr_ 36.8344565472 Totalstd_---- 20.4873301472
latMeanEr_ -12.5933523176 latstd_---- 5.03735151025
lonMeanEr_ 1.54367688847 lonstd_---- 4.95168939179
mean error 14.679322804 error std 4.7559430884
percent_1= 0.493975903614 percent_2= 0.987951807229 percent_3= 0.0
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Analysis for vehicle technology

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Fig. 10. GNSS/LiDAR integration result: GNSS positioning based on WLS-NE without covariance estimation. The small circles represent the pose graph for further graph optimization. The colored points indicate the point clouds from the graph SLAM.

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percent_1= 0.333333333333 percent_2= 0.722222222222 percent_3= 0.148148148148
totalMeanEr_ 20.3447527948 Totalstd_---- 15.0037793862
latMeanEr_ -5.26607537813 latstd_---- 15.2653026312
lonMeanEr_ -9.56226792162 lonstd_---- 16.5292058281
mean error 22.6095480985 error std 16.4499942747
percent_1= 0.333333333333 percent_2= 0.722222222222 percent_3= 0.148148148148
totalMeanEr_ 20.3425319377 Totalstd_---- 14.9863935709
latMeanEr_ -5.20887351171 latstd_---- 15.2935034049
lonMeanEr_ -9.5365522837 lonstd_---- 16.5185640282
mean error 22.6095480985 error std 16.4499942747
percent_1= 0.333333333333 percent_2= 0.722222222222 percent_3= 0.148148148148
totalMeanEr_ 20.3403213863 Totalstd_---- 14.9690680526
latMeanEr_ -5.15193708318 latstd_---- 15.3213096945
lonMeanEr_ -9.51095597589 lonstd_---- 16.5079250169
mean error 22.6095480985 error std 16.4499942747

Ground Truth

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In this super-urbanized area, the SPAN-CPT can also failed to provide centi-meter positioning.

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