Terran360 comes with a web user interface, Terran360 Control Centre, where the system can be operated and configured. Features include:
Viewing radar point cloud data
Live localisation status: Localised, Open-Loop or Lost
Live speed and odometry status
Recording and downloading logs from localisation runs
Running post processing analysis on logs
Processing GPS data
Manage licencing
Displaying output data feeds
Accessing Terran360 Control Centre
To access Terran360 Control Centre, enter the edge computer’s IP address in your browser search bar.
To being begin logging data, toggle the status button to ‘Active’.
You will then be prompted to enter a name for the logged data. Click 'Start', this will begin recording data to log files, the type amount of data logged is fully configurable within the 'Config' tab.
Live data will now be displayed on the main panel. The example below shows radar point clouds displayed in Terran360 when driving in an urban setting.
Red Points - Live landmarks generated from the radar device.
Green Points - Landmarks from the previous radar scan.
Red Trailing Line - The path that the radar localiser has taken, based on odometry.
To stop logging data, toggle the status button to 'Stopped':
Viewing Logs
To view the log directory, click 'Logs', navigate the directory to view the files:
Post-processing Analysis Tools
From the logs menu, you can find options to run the post-processing scrips. With one-click, this provides detailed graphical analysis of logs including:
Full route odometry in local frame
Distance travelled
Velocity plots
Scan credibility metrics
Report summary in .pdf format
Further analysis is available if you are inputting Terran360 is configured to receive ground truth GPS NMEA data simultaneously with radar odometry:
Radar odometry vs GPS ground truth comparison
Crosstrack / Downtrack error of Terran360 pose estimate vs GPS ground truth
Velocity comparisons
Route travelled in UTM frame
Google Earth .kml file output
Example of analysis data from egomotion_plots.html
Example of ground truth comparison data from radon-v-gps-plot.html
Downloading
log filesLog Files
From the logs menu, you can download the log files to disk. Files are downloaded an archived .tar format.
View
licence statusLicence Status
To view the licence status, click ‘Config' > 'Licence’
If the licence has expired during your loan period, please contact us and we will arrange a renewal.
Terran360
data outputData Output
Terran360 outputs positioning data as NMEA messages over UDP in a vendor specific NMEA 0183 message format. NMEA messages parameterise a 2D pose of the radar at a specific time as x, y and yaw angle relative to an origin.
This is logged in the file nmea_messaged.csv, or to view a live feed in the Terran360 Control Centre, click: ‘Feeds' > 'NMEA’
Other feeds can be viewed or downloaded from this panel, the ‘Services' and 'Performance’ feeds can be useful for diagnostics or troubleshooting issues.