WayFinder Hub FAQs

What INSs are supported?

All RT3000 v4 models, all RT3000 v3 models, and RT1003 v2.

What LiDARs are supported?

WayFinder Hub can support up to 128-channel LiDAR systems in real-time.

WayFinder Prime supports up to 32-channel LiDAR systems in real-time.

LiDAR Boost PP supports up to 128-channel LiDAR.

LiDAR Boost supports the following LiDAR models:

Full - internally tested and validated with real data

Beta - decoders supported in LiDAR Boost but has not been validated with real data

How many LiDAR are supported at the same time?

Up to 4 LiDAR are supported for LiDAR Boost aiding (1x primary, 3x auxiliary).

Up to 8 LiDAR are supported for data logging only.

Can the Hub power my LiDAR directly?

The WF Hub supports PoE+ which is capable of delivering up to 25W of power via the Ethernet connection.

We can supply custom PoE cables that connect directly to either a Hesai XT32M1X or Ouster OS-1 LiDAR.

If you have a different model of LiDAR, you will either have to build your own custom PoE cable to connect to the LiDAR, or power it separately through the interface/connection box for example.

What firmware versions are compatible?

RT models require firmware version 1.18 or later (XBNS dev ID 260527)

Is there a difference in performance between 32 vs 128-channel LiDAR, or using 1 vs 2 LiDARs?

There’s no significant difference in the performance of LiDAR Boost aiding when using higher channel LiDAR or multiple LiDAR as long as the primary LiDAR has a good field of view where it can see sufficient features in the environment.

The primary benefit of using multiple LiDAR is to allow an increased field of view if the LiDARs are mounted in such a way that they are partially obstructed. Ensuring a maximum field of view will have a positive impact on the performance.

Using higher channel LiDAR has minimal impact on LiDAR Boost performance, but customers may already be using higher channel LiDAR for other reasons such as higher resolution mapping.

Does the LiDAR need to be mounted flat on the vehicle roof?

Close to flat tends to work best for navigation performance as it gives a good field of view for the LiDAR to capture features in the surroundings. Steep angles or vertically mounted LiDAR may be good for capturing things like more detail in the road surface, but is not optimal for LiDAR Boost performance.

Is there a difference in performance between using RT3000 v4, RT3000 v3, or RT1003 v2 with Hub?

Yes, the inherent differences in performance between these models also follows through to the LiDAR Boost performance too. The table below shows an example of 2D position drift between the different models using real-time LiDAR Boost Odometry aiding.

What feature codes do I need on my RT?

To utilise the full functionality of LiDAR Boost with WF Hub, your RT device will need the following feature codes at a minimum:

These feature codes are included as part of the LiDAR Boost bundle, in addition to a few other useful features such as gx/ix tight-coupling and gPTP.

How is LiDAR Boost “angler” boresight different to Georeferencer boresight?

Our Georeferencer boresight process optimises the lever arms between the INS and LiDAR by trying to solve for a planar surface. This can be done either with our reflective boresight targets, or with our targetless capability by selecting a planar surface in the environment such as the side of a building or road surface section. This boresight method is processed offline in our Georeferencer software application.

The new LiDAR Boost Angler boresight process optimises the lever arms between the INS and LiDAR by comparing the GNSS+IMU calculated velocities with the LiDAR+IMU calculated velocities and trying to solve for a match. This boresight process is automatic (does not require manually selecting targets or planar surfaces) and can be processed online in real-time with the LiDAR Boost web app on the WF Hub, or offline with our LiDAR Boost PP software application.

Which boresight process is better?

Our testing has not shown any significant differences in the performance/accuracy of boresights carried out with either method. However for WayFinder Hub applications, the LiDAR Boost boresight is an easier, more streamlined process and is possible with the included feature codes required for the other LiDAR Boost functionality with WF Hub.

How long does it take to boresight?

In ideal conditions it takes around 10 minutes for the LiDAR Boost angler boresight to converge. For best results, the boresight should be carried out in an environment with good GNSS satellite visibility and RTK corrections, and with static structures such as buildings, fences, lampposts etc. within the LiDAR field of view.

What speed does LiDAR Boost work up to?

Internal testing has proven operation at highway speeds of 60mph / 100km/h. We have not performed intentional stress testing above these speeds.

How does LiDAR Boost cope with dust, snow or rain?

Cleaning the sensor lenses and protecting them against build-up of dust/snow/rain is recommended. If parts of the lens are covered then this will challenge the odometry algorithms, which will in turn affect the dead-reckoning performance during GNSS outages. At higher velocities, rain will typically move to the sides of the lens automatically. 

How does LiDAR Boost cope with bad lighting conditions or fog?

LiDAR is not affected by light level. Fog may reduce the range of the LiDAR.

Does the WayFinder Hub have environmental protection?

No, the WF Hub does not have any ingress protection for dust or water. It must be installed inside the vehicle away from moisture.

How is WayFinder Hub different to WayFinder Prime?

WayFinder Prime is an all-in-one solution with INS, LiDAR, and edge computing all integrated in a single product.

WayFinder Hub is just the edge computing component and is designed for customers who already have an existing OXTS INS or LiDAR, to enable a modular plug-and-play setup.

The WF Prime and WF Hub both run the same WayFinder OS with LiDAR Boost technology installed. The edge compute processor in the WF Hub is a more powerful version compared to the one in WF Prime, allowing it to support up to 128-channel LiDAR models in real-time.

Why is my reported position accuracy showing worse than expected even though I’m using LMM?

The reported position accuracy in the INS NCOM output takes into account the global accuracy of the LiDAR map as well as the relative accuracy when localising within that map. So if the georeferencing data used to create the map had a global accuracy of 15cm, the NCOM reported accuracy while using LMM with that map will not be below 15cm, even though the relative accuracy and repeatability within that map is much less.

Can I utilise the edge compute of WF Hub to run my own applications onboard?

Currently it is not possible to run 3rd party software on the WF Hub, only OXTS apps installed with the WayFinder OS are supported.

We plan to allow users to run their own applications in a future update.

Can I utilise the additional interfaces on the WF Hub to log CAN or other data?

The CAN and Digital I/O interfaces on the WF Hub are not currently supported so cannot be used to log external data.

Support for these interfaces will be added in a future update.

Can I install additional hard drives for increased storage?

Currently the expandable storage bays are not supported in the software. Support for additional and removable storage will be added in a future update.

Replacing the internal SSD is not recommended as part of the WayFinder OS is installed on the drive.