Georeference options

For GNSS sensors (“GPS”) to work, they need to know the transformation between the simulator world local coordinates and the Earth. This can be specified with a <georeference> tag as documented below.

Georeference example #1: Using geodetic coordinates

 <mvsim_world version="1.0">
 ...
   <!-- Define georeferenced coordinates to the world so GNSS/GPS sensors can be properly simulated -->
   <georeference>
     <latitude>36.894718</latitude>
     <longitude>-2.316988</longitude>
     <height>100.0</height>
     <world_to_enu_rotation_deg>0.0</world_to_enu_rotation_deg>
   </georeference>
 ...
 </mvsim_world>

Georeference example #2: Using UTM world coordinates

 <mvsim_world version="1.0">
 ...
   <!-- Define georeferenced coordinates to the world so GNSS/GPS sensors can be properly simulated -->
   <georeference>
     <world_is_utm>true</world_is_utm>
     <!-- A reference point roughly within the area of the map to linearize coordinates -->
     <latitude>36.894718</latitude>
     <longitude>-2.316988</longitude>
     <height>100.0</height>
   </georeference>
 ...
 </mvsim_world>

Parameters for worlds in local coordinates and GNSS geodetic reference:

• <latitude>yy</latitude> and <longitude>xx</longitude>. Geodetic coordinates of the world (0,0,0) origin.

• <height>zz</height>: The height over the WGS84 ellipsoid for the world (0,0,0).

• <world_to_enu_rotation_deg>tt</world_to_enu_rotation_deg>: An optional rotation (in degrees) if you want North not to be aligned with +Y as it is the default. Does not apply when using UTM coordinates.

Parameters for worlds with local coordinates as UTM coordinates:

• <world_is_utm>true</world_is_utm>: Indicates that world coordinates are UTM coordinates, defined in the zone of the reference (lat,lon) geodetic coordinates.