Use Mapviz to draw the satellite map of robot GPS track - call the sky map API to quickly load and refresh the map

Mapviz for GPS odometer visualization

Main reference Blogs:

Dai Kaige's Zhihu blog:

1.Inertial navigation system INS570D test

2.Mapviz for GPS + odometer + LiDAR visualization

1.mapviz installation

reference resources: Use Mapviz and zhongketuxin to draw the satellite map of the robot's GPS trajectory

2.mapviz calls the sky map api

Because the map loaded by mapviz by default is Stamen's map, which is a foreign website, the loading is very slow Dr. Dai Kai Under the guidance of, select WMTs API using day map to display slice map and display track on it

2.1 apply for personal key of tianmap API key

Need first Application day map API KEY Note that when applying, the selected application type is the server. After submitting, you can generate your own tk key.

Map API

2.2 map tile acquisition format

according to Map API Write your key in the format of

Format:

http://t0.tianditu.gov.cn/img_ W / WMTs? Service = WMTs & request = gettile & version = 1.0.0 & layer = img & style = Default & tilematrixset = W & format = tiles & tilematrix = & tilerow = & tilecol = & TK = your key

Note: as shown in the following figure, in mapviz, in tile_ In the map, the format of the added Base URL is

http://Tile. Stamen. COM / Terrain / / / . Png # level x y respectively represents high longitude and latitude

Therefore, mapviz needs to change the z variable in the sky map api retrieval format to the level variable to recognize that the modified sky map api retrieval format is

http://t0.tianditu.gov.cn/img_ W / WMTs? Service = WMTs & request = gettile & version = 1.0.0 & layer = img & style = Default & tilematrixset = W & format = tiles & tilematrix = & tilerow = & tilecol = & TK = your key

Note: the unexpected account key is my own account key. Do not transmit it outside. The specific format can be viewed Map API

Vector basemap

Longitude and latitude projection

http://t0.tianditu.gov.cn/vec_ C / WMTs? Service = WMTs & request = gettile & version = 1.0.0 & layer = img & style = Default & tilematrixset = W & format = tiles & tilematrix = & tilerow = & tilecol = & TK = your key

Spherical Mercator projection

http://t0.tianditu.gov.cn/vec_w/wmts? SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=img&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX=&TILEROW=&TILECOL=&tk=Your key

Vector annotation

Longitude and latitude projection

http://t0.tianditu.gov.cn/cva_ C / WMTs? Service = WMTs & request = gettile & version = 1.0.0 & layer = img & style = Default & tilematrixset = W & format = tiles & tilematrix = & tilerow = & tilecol = & TK = your key

Spherical Mercator projection

http://t0.tianditu.gov.cn/cva_w/wmts? SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=img&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX=&TILEROW=&TILECOL=&tk=Your key

Image base map

Longitude and latitude projection

http://t0.tianditu.gov.cn/img_c/wmts? SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=img&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX=&TILEROW=&TILECOL=&tk=Your key

Spherical Mercator projection

http://t0.tianditu.gov.cn/img_w/wmts? SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=img&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX=&TILEROW=&TILECOL=&tk=Your key

Topographic shading

Longitude and latitude projection

http://t0.tianditu.gov.cn/ter_c/wmts? SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=img&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX=&TILEROW=&TILECOL=&tk=Your key

Spherical Mercator projection

http://t0.tianditu.gov.cn/ter_w/wmts? SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=img&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX=&TILEROW=&TILECOL=&tk=Your key

3D topographic image base map

https://[ t0-t7 ].tianditu.gov.cn/mapservice/swdx? SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=img&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX=&TILEROW=&TILECOL=&tk=Your key

3. Use

3.1 add Custom WMTS Source

For example, using the image base map spherical Mercator projection, add the sky map URL + key to the Base URL, and select 99 for Max zoom to increase the resolution

http://t0.tianditu.gov.cn/img_w/wmts?SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=img&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX=&TILEROW=&TILECOL=&tk=1cfe06711bc22d31762c8884d41d68f0

3.2 add navsat path display

Select the / navsat/fix topic and the appropriate color to draw the path on the satellite map

Note that tile should be added in mapviz first_ Add navsat(new display) to the map

3.3 playing data sets 3.4 final effect

As shown in the figure below, the red track is the track route map in the square

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