Origin of UTM frame (robot_localization)
In ROS literature when discussing the origin of the UTM frame, does the literature define the UTM origin as:
The origin of the specific zone itself which is the intersection of the zone's bottom latitudinal line and its central meridian OR
The intersection of the zone's central meridian with the EQUATOR (google definition)?
For example in the robot_localization
document the following is said:
Referring to Figure 2, these ideas are (hopefully) made clear. The UTM origin is the (0UTM,0UTM) point of the UTM zone that is associated with the robot's GPS location.
So my robot's starting GPS location is associated with the zone 30U, is the origin of the UTM frame in the cell of 30U located at the intersection of the latitudinal line and the cell's central meridian OR all the way down where the cell's central meridian intersects with the EQUATOR (where Northing is 0)?
UPDATE 1: So after doing some research and using the gps_common
package to convert GPS coordinates to UTM coordinates, it seems that the origin of the UTM frame starts from the intersection of the zone's Central Meridian (The zone your robot is operating in) and the Equator where the (Northing, Easting) coordinates are (0, 500000). It would be great if users of the robot_localization package can confirm this. If this is the case, is that general knowledge used by all GPS/UTM navigation packages?