AirSim中的传感器¶

AirSim目前支持以下传感器。每个传感器都与一个整数枚举值相关联，以指定其传感器类型。

相机
气压计 = 1
IMU = 2
GPS = 3
磁力计 = 4
距离传感器 = 5
激光雷达 = 6

注意：相机的配置与其他传感器不同，且没有与之关联的枚举值。请查看常规设置和图像API以获取相机配置和API。

默认传感器¶

如果在settings.json中未指定传感器，则根据仿真模式默认启用以下传感器。

多旋翼¶

IMU
磁力计
GPS
气压计

汽车¶

GPS

计算机视觉¶

无

在后台，createDefaultSensorSettings方法位于AirsimSettings.hpp，该方法根据在settings.json文件中指定的仿真模式设置上述传感器及其默认参数。

配置默认传感器列表¶

可以在设置json中配置默认传感器列表：

"DefaultSensors": {
    "Barometer": {
        "SensorType": 1,
        "Enabled" : true,
        "PressureFactorSigma": 0.001825,
        "PressureFactorTau": 3600,
        "UncorrelatedNoiseSigma": 2.7,
        "UpdateLatency": 0,
        "UpdateFrequency": 50,
        "StartupDelay": 0

    },
    "Imu": {
        "SensorType": 2,
        "Enabled" : true,
        "AngularRandomWalk": 0.3,
        "GyroBiasStabilityTau": 500,
        "GyroBiasStability": 4.6,
        "VelocityRandomWalk": 0.24,
        "AccelBiasStabilityTau": 800,
        "AccelBiasStability": 36
    },
    "Gps": {
        "SensorType": 3,
        "Enabled" : true,
        "EphTimeConstant": 0.9,
        "EpvTimeConstant": 0.9,
        "EphInitial": 25,
        "EpvInitial": 25,
        "EphFinal": 0.1,
        "EpvFinal": 0.1,
        "EphMin3d": 3,
        "EphMin2d": 4,
        "UpdateLatency": 0.2,
        "UpdateFrequency": 50,
        "StartupDelay": 1
    },
    "Magnetometer": {
        "SensorType": 4,
        "Enabled" : true,
        "NoiseSigma": 0.005,
        "ScaleFactor": 1,
        "NoiseBias": 0,
        "UpdateLatency": 0,
        "UpdateFrequency": 50,
        "StartupDelay": 0
    },
    "Distance": {
        "SensorType": 5,
        "Enabled" : true,
        "MinDistance": 0.2,
        "MaxDistance": 40,
        "X": 0, "Y": 0, "Z": -1,
        "Yaw": 0, "Pitch": 0, "Roll": 0,
        "DrawDebugPoints": false
    },
    "Lidar2": {
        "SensorType": 6,
        "Enabled" : true,
        "NumberOfChannels": 16,
        "RotationsPerSecond": 10,
        "PointsPerSecond": 100000,
        "X": 0, "Y": 0, "Z": -1,
        "Roll": 0, "Pitch": 0, "Yaw" : 0,
        "VerticalFOVUpper": -15,
        "VerticalFOVLower": -25,
        "HorizontalFOVStart": -20,
        "HorizontalFOVEnd": 20,
        "DrawDebugPoints": true,
        "DataFrame": "SensorLocalFrame"
    }
},

配置特定于车辆的传感器列表¶

车辆可以覆盖上述默认传感器的子集。激光雷达和距离传感器默认不添加到车辆中，因此您需要以这种方式添加。每个传感器必须具有有效的“SensorType”，并且可以定义部分属性以覆盖上面显示的默认值，您还可以将Enabled设置为false以禁用特定类型的传感器。

"Vehicles": {

    "Drone1": {
        "VehicleType": "SimpleFlight",
        "AutoCreate": true,
        ...
        "Sensors": {
            "Barometer":{
                "SensorType": 1,
                "Enabled": true,
                "PressureFactorSigma": 0.0001825
            },
            "MyLidar1": {
                "SensorType": 6,
                "Enabled" : true,
                "NumberOfChannels": 16,
                "PointsPerSecond": 10000,
                "X": 0, "Y": 0, "Z": -1,
                "DrawDebugPoints": true
            },
            "MyLidar2": {
                "SensorType": 6,
                "Enabled" : true,
                "NumberOfChannels": 4,
                "PointsPerSecond": 10000,
                "X": 0, "Y": 0, "Z": -1,
                "DrawDebugPoints": true
            }
        }
    }
}

特定传感器设置¶

有关这些传感器设置含义的详细信息，请参见以下页面：

服务器端可视化以进行调试¶

默认情况下，距离传感器命中的点不会在视口中绘制。要启用在视口中绘制命中点，请通过设置json启用DrawDebugPoints设置。例如：

"Distance": {
    "SensorType": 5,
    "Enabled" : true,
    ...
    "DrawDebugPoints": true
}

传感器API¶

直接跳转到hello_drone.py或hello_drone.cpp以获取示例用法，或参见以下完整API。

气压计¶

msr::airlib::BarometerBase::Output getBarometerData(const std::string& barometer_name, const std::string& vehicle_name);

barometer_data = client.getBarometerData(barometer_name = "", vehicle_name = "")

IMU¶

msr::airlib::ImuBase::Output getImuData(const std::string& imu_name = "", const std::string& vehicle_name = "");

imu_data = client.getImuData(imu_name = "", vehicle_name = "")

GPS¶

msr::airlib::GpsBase::Output getGpsData(const std::string& gps_name = "", const std::string& vehicle_name = "");

gps_data = client.getGpsData(gps_name = "", vehicle_name = "")

磁力计¶

msr::airlib::MagnetometerBase::Output getMagnetometerData(const std::string& magnetometer_name = "", const std::string& vehicle_name = "");

magnetometer_data = client.getMagnetometerData(magnetometer_name = "", vehicle_name = "")

距离传感器¶

msr::airlib::DistanceSensorData getDistanceSensorData(const std::string& distance_sensor_name = "", const std::string& vehicle_name = "");

distance_sensor_data = client.getDistanceSensorData(distance_sensor_name = "", vehicle_name = "")

激光雷达¶

有关激光雷达API的详细信息，请参见激光雷达页面。