Data Collection Platform in Hong Kong


The platform for data collection in Hong Kong is a Honda Fit. The platform is equipped with the following sensors:
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3D LiDAR sensor (, 360 HFOV, +10~-30 VFOV, 80m range, 10Hz)
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Model: HDL 32E Velodyne.
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Vertical Field of view (FOV): +10~-30 degrees.
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Horizontal Field of view (FOV): 360 degrees.
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Ranging: 0.1~80 meters.
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Data rate: 10 Hz.
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Channels: 32
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Accuracy: ± 2 cm accuracy
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INS/IMU (Xsens Mti 10, 100 Hz, AHRS)
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Model: Xsens Mti 10.
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Data rate: 100 Hz.
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Gyro bias stability: 18 degrees/hour
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Temperature: -40 to 85 ºC
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Multiple GNSS receivers
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Model: u-blox M8T/u-blox F9 (to be update)
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Data rate: 1 Hz.
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GNSS: BeiDou, Galileo, GLONASS, GPS / QZSS
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GNSS Bands: L2OF, L2C, E1B/C, B2I, E5b, L1C/A, L1OF, B1I
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Oscillator: TCXO
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Temperature: -40 to 85 ºC
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Size (mm): 17.0 × 22.0 × 2.4
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Data provided:
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Archived RINEX 3.02 data from GNSS Reference Station (for RTK purpose) and ECEF position of the reference station.
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Raw GNSS measurements. (More information can be found in data format page)
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Model: Geodetic GNSS receiver – NovAtel Flexpak 6 (Hong Kong)
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Data rate: 1 Hz.
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GNSS: BeiDou, Galileo, GLONASS, GPS / QZSS
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GNSS Bands: L2OF, L2C, E1B/C, B2I, E5b, L1C/A, L1OF, B1I
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Monocular Camera,
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Model for the camera: BFLY-U3-23S6C-C
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Frame rate: 20FPS
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Lens Mount: C-mount
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Pixel Size: 5.86 µm
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Resolution: 1920 × 1200
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Sensor Type: CMOS
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Sensor Format: 1/1.2"
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Chroma: Color
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Model for the lens:
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Sensor Compatibility: 1"
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Lens Mount: C-mount
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Focal Length: 6mm
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Focus Type: Color
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The angles of View:
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Vertical: 79.4°
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Horizontal: 96.8°
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Diagonal: 108.4°
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Extrinsic Parameters for Camera: The intrinsic parameters of the Monocular camera can be found here.
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NovAtel SPAN-CPT (high-grade RTK GNSS/INS integrated navigation system, 20 Hz, GPS/BeiDou/GLONASS)
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Model: SPAN-CPT
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Data rate: 1 Hz.
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GNSS: BeiDou, Galileo, GLONASS, GPS / QZSS
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GNSS Bands: L2OF, L2C, E1B/C, B2I, E5b, L1C/A, L1OF, B1I
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Accuracy(RMS)
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Single Point L1/L21.5m
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SBAS0.6m
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DGPS0.4m
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NovAtel CORRECT™
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TERRASTAR-C4 cm
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Verizon Apex6 cm
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RT-2®1 cm + 1 ppm
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Gyro Bias In-run Stability (±deg/hr):1
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Gyro Bias Offset (deg/hr):20
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Gyro Angular Random Walk (deg/√ hr):0.067
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Gyro Scale Factor (ppm):1500
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Gyro Range (±deg/s):375
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Accelerometer Bias (mg):50
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Accelerometer Scale Factor (ppm):4000
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Accelerometer Range (±g):10
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