From 079e59ce3e59073134db0aab245d056556e14795 Mon Sep 17 00:00:00 2001
From: liqiang <wlq@whu.edu.cn>
Date: Fri, 24 Mar 2023 19:20:52 +0800
Subject: [PATCH] set the output files as text-format files

---
 README.md       | 4 ++--
 README_CN.md    | 4 ++--
 src/kf_gins.cpp | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/README.md b/README.md
index 9c123b3..8c67208 100644
--- a/README.md
+++ b/README.md
@@ -196,7 +196,7 @@ For more details on the algorithm, please refer to [惯性导航原理与GNSS/IN
 | 6~8     | 3-D velocity (north-east-down)  | $m/s$ |
 | 9~11    | attitude angles (roll-pitch-yaw) | $deg$ |
 
-- The IMU error binary file format(all double data) is defined as:
+- The IMU error text file format(all double data) is defined as:
 
 | Columns | Data description                        | Units   |
 | ------- |-----------------------------------------| ------- |
@@ -206,7 +206,7 @@ For more details on the algorithm, please refer to [惯性导航原理与GNSS/IN
 | 8~10    | X-Y-Z axes gyroscope scale factors      | $ppm$   |
 | 11~13   | X-Y-Z axes accelerometer scale factors  | $ppm$   |f
 
-- The state STD binary file format(all double data) is defined as:
+- The state STD text file format(all double data) is defined as:
 
 | Columns | Data description                          | Units  |
 | ------- |-------------------------------------------|--------|
diff --git a/README_CN.md b/README_CN.md
index 973badf..3babe72 100644
--- a/README_CN.md
+++ b/README_CN.md
@@ -195,7 +195,7 @@ sudo apt-get install gdb
 | 6~8  | 三维速度 (北向-东向-地向)     | $m/s$ |
 | 9~11 | 姿态角 (横滚-俯仰-航向) | $deg$ |
 
-- IMU误差文件二进制文件格式(均为double类型)定义为:
+- IMU误差文件文本文件格式(均为double类型)定义为:
 
 | 列数  | 数据描述                 | 单位    |
 | ----- | ------------------------ | ------- |
@@ -205,7 +205,7 @@ sudo apt-get install gdb
 | 8~10  | X-Y-Z轴 陀螺仪比例因子   | $ppm$   |
 | 11~13 | X-Y-Z轴 加速度计比例因子 | $ppm$   |
 
-- 系统状态标准差二进制文件格式(均为double类型)定义为:
+- 系统状态标准差文本文件格式(均为double类型)定义为:
 
 | 列数  | 数据描述               | 单位    |
 | ----- |--------------------| ------- |
diff --git a/src/kf_gins.cpp b/src/kf_gins.cpp
index 02e8d43..22f7324 100644
--- a/src/kf_gins.cpp
+++ b/src/kf_gins.cpp
@@ -109,8 +109,8 @@ int main(int argc, char *argv[]) {
     // stdfile: time(1) + pva_std(9) + imubias_std(6) + imuscale_std(6) = 22
     int nav_columns = 11, imuerr_columns = 13, std_columns = 22;
     FileSaver navfile(outputpath + "/KF_GINS_Navresult.nav", nav_columns, FileSaver::TEXT);
-    FileSaver imuerrfile(outputpath + "/KF_GINS_IMU_ERR.bin", imuerr_columns, FileSaver::BINARY);
-    FileSaver stdfile(outputpath + "/KF_GINS_STD.bin", std_columns, FileSaver::BINARY);
+    FileSaver imuerrfile(outputpath + "/KF_GINS_IMU_ERR.txt", imuerr_columns, FileSaver::TEXT);
+    FileSaver stdfile(outputpath + "/KF_GINS_STD.txt", std_columns, FileSaver::TEXT);
 
     // 检查文件是否正确打开
     // check if these files are all opened