From 5ff967f6c2219cdf45917157b254bee34472c5fe Mon Sep 17 00:00:00 2001 From: dev Date: Wed, 28 Aug 2024 17:45:08 -0400 Subject: [PATCH] Documentation Update --- src/v2i-hub/MUSTSensorDriverPlugin/README.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/v2i-hub/MUSTSensorDriverPlugin/README.md b/src/v2i-hub/MUSTSensorDriverPlugin/README.md index fd607eb26..f51522fc3 100644 --- a/src/v2i-hub/MUSTSensorDriverPlugin/README.md +++ b/src/v2i-hub/MUSTSensorDriverPlugin/README.md @@ -34,6 +34,13 @@ This plugin has several configuration parameters. Below these are listed out as > [!NOTE] > Both **CARMA Streets** and our vehicle automatation **CARMA Platform** rely on the PROJ4 library for projecting data between internal local maps coordinate frames and WSG84. Additional documentation on the projection string can be found in PROJ documentation ()()() +**DetectionPositionVariance**: Variance of the reported positon data coming from the sensor. Value is used for cooperative perception messages that enable sensor fusion like the SDMS. + +**DetectionVelocityVariance**: Variance of the reported velocity data coming from the sensor. Value is used for cooperative perception messages that enable sensor fusion like the SDMS. + +> [!NOTE] +> Measurement variance can be calcuted from Sensor accuracy data information. For instance if a sensor position accurancy is +/- 0.5 m, assuming a normal distribution and a 95% confidence interval 0.5 m represent 2 standard deviations. Variance is equal the standard deviation squared so a position measurement accuracy of +/- 0.5 m. the variance would be 0.0625 (`(O.5/2)^2`). + After setting these configuration parameters the plugin can simply be enabled. ## Design