diff --git a/.gitignore b/.gitignore
index d8045c4..45940e0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,5 @@
 bin/
 lib/
 build/
-.vscode/
 .idea/
 dataset/
diff --git a/.vscode/launch.json b/.vscode/launch.json
new file mode 100644
index 0000000..5bd3f02
--- /dev/null
+++ b/.vscode/launch.json
@@ -0,0 +1,43 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Windows 启动",
+            "type": "cppvsdbg",
+            "request": "launch",
+            "cwd": "${workspaceFolder}",
+            "program": "${workspaceFolder}/bin/KF-GINS",
+            "args": ["./dataset/kf-gins.yaml"],
+            "stopAtEntry": true,
+            "environment": [],
+            "console": "integratedTerminal"
+        },
+        {
+            "name": "Linux gdb 启动",
+            "type": "cppdbg",
+            "request": "launch",
+            "cwd": "${workspaceFolder}",
+            "program": "${workspaceFolder}/bin/KF-GINS",
+            "args": ["./dataset/kf-gins.yaml"],
+            "stopAtEntry": true,
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "为 gdb 启用整齐打印",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description":  "将反汇编风格设置为 Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                }
+            ]
+        }
+    ]
+}
\ No newline at end of file