Comments (1)
I think I found the solution by reading the mercator wiki page.
For a INS solution of position lat lon h and orientation (expressed by qx, qy, qz, qw) in the local level ENU frame,
we can convert lat lon h to the (e, n, u) coordinates in the local UTM zone for the data acquisition.
Let's denote the ENU frame for the UTM zone by E, the local level ENU frame by N, and the body frame of the car by B.
Then, we get an Euclidean transform between E and B, since E and N has the same orientation at a point on Earth,
i.e., E_T_B = f(e, n, u, qx, qy, qz, qw), and p_E = E_T_B * p_B for a point in the B frame.
In this case, the E frame's origin is an imaginary point in space.
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