Global Localization Playback Mode - GNSS Ingest Error and Termination (Initial X not PSD)

Software Python
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1

Hi Team,

I am currently running the Global Localization module in playback mode with inference enabled, and after a certain amount of time, the process terminates unexpectedly with the following error:

Ingest error occurred when ingesting GNSSData:  GNSS DATA COVARIANCE MUST VARY
[2025-04-15 13:26:22 UTC][ZED][WARNING] An internal error occurred while performing geotracking fusion for [GeoTracking]. Please verify your input GNSS data. Restarting GNSS and VIO calibration...
terminate called after throwing an instance of 'Bayesian_filter::Numeric_exception'
  what():  Initial X not PSD

This appears to happen when the system tries to fuse GNSS data, and it fails due to invalid covariance or non-varying values. A restart of GNSS and VIO calibration is triggered, followed by a crash with the “Initial X not PSD” error.

Let me know if any logs or data samples are needed for further investigation.

Thanks in advance!

2

Hi @karthikreddy157
are you using fixed values for the GNSS Data covariance?

3

Hi @Myzhar

Yes, Because of it these issue happening ?

4

Yes, that’s exactly what this error message means:
Ingest error occurred when ingesting GNSSData: GNSS DATA COVARIANCE MUST VARY

We are investigating the cause of the crash, this should not happen.