UGV Devkit - Livox Mid360 + IMU Extension

This extension module for the UGV development kit consists of a Livox Mid360 LiDAR sensor and an IMU sensor. It is designed to provide a cost-effective solution for mobile robot 3D navigation and obstacle avoidance.

Key Specifications

• Livox Mid-360 LiDAR
  • Laser safety: Class 1
  • Detection range (@100 klx)
    • 40 m @ 10% reflectivity
    • 70 m @ 80% reflectivity
  • FOV: Horizontal: 360°, Vertical: -7°~52°
  • Range precision: ≤ 2cm (@10m), ≤ 3cm (@0.2m)
  • Angular precision: < 0.15º
  • Frame rate: 10Hz (typical)
  • Data port: 100 BASE-TX Ethernet
  • Data synchronization: IEEE 1588-2008 (PTPv2), GPS
• IMU sensor
  • Output data
    • Calibrated data from 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer
    • Orientation in quaternion (up to 500Hz)
  • Accelerometer
    • Range: ±16g
    • Resolution: 0.001g
  • Gyroscope
    • Range: ±2000°/s
    • Resolution: 0.001°/s
  • Magnetometer
    • Range: ±8 Gauss
    • Resolution: 0.25 Gauss
  • Fusion performance:
    • Pitch/roll (static): 0.1°
    • Pitch/roll (dynamic): 0.1°
    • Heading drift (static, 6DOF): 0.12°/h
    • Heading drift (dynamic, 6DOF): < 5°
  • Communication interface: RS232

Reference Frames

The reference frames for the Livox Mid-360 lidar and IMU sensor follow the Right Hand Rule convention and are point cloud-centric frames of reference. They also follow Robotics convention with the X-axis pointing forwards.

The Cartesian coordinates O-XYZ of the components are defined as below: Point O of the Top Plate is the origin, and O-XYZ is the point cloud coordinates of the module.

Relationship between sensors

Taking the Top Plate as the reference link for this extension, the relative position of the IMU Sensor and Lidar are as follows:

• IMU Sensor: x= 35.4mm, y: 0.0mm, z: 21.3mm
• Lidar: x= 35.4mm, y: 0.0mm, z: 65.4mm

Note: The Lidar has an additional integrated IMU chip (with a 3-axis accelerometer and a 3-axis gyroscope). More information can be found here