# KF-GINS configuration file

# Windows下使用KF-GINS时，文件路径中不能有中文
# When you run KF-GINS under Windows, there should be NO Chinese in the file path.

# IMU和GNSS数据文件路径
# imudata and gnssdata filepath
imupath: "./dataset/Leador-A15.txt"
gnsspath: "./dataset/GNSS-RTK.txt"

# 输出文件夹路径
# output folder path
outputpath: "./dataset"

# IMU文件列数 (只会用前7列IMU数据)
# IMU data columns, only use the first seven columns
imudatalen: 7
# IMU原始数据频率
# IMU datarate [Hz]
imudatarate: 200

# 处理时间段，结束时间设置为-1时则处理至IMU文件结束
# processing interval[s]
# process until the imufile end if set endtime to -1
starttime: 456300
endtime: -1

# 初始状态
# initial state
# 初始位置, 纬度 经度 高程
# initial position, latitude, longitude, altitude. [deg, deg, m]
initpos: [ 30.4447873701, 114.4718632047, 20.899 ]

# 初始速度, 北向速度, 东向速度, 垂向速度
# initial velocity, speed in the directions of north, east and down. [m/s, m/s, m/s]
initvel: [ 0.0, 0.0, 0.0 ]

# 初始姿态, 欧拉角(ZYX旋转顺序), 横滚, 俯仰, 航向
# initial attitude, euler angle(ZYX rotation), roll, pitch, yaw [deg, deg, deg]
initatt: [ 0.85421502, -2.03480295, 185.70235133 ]

# 初始IMU零偏和比例因子, IMU的三个轴(前、右、下)
# initial IMU bias and scale error, three axes of the imu (forward, right and down)
initgyrbias: [ 0, 0, 0 ]    # [deg/h]
initaccbias: [ 0, 0, 0 ]    # [mGal]
initgyrscale: [ 0, 0, 0 ]   # [ppm]
initaccscale: [ 0, 0, 0 ]   # [ppm]

# 初始状态标准差
# initial state std
# 初始位置标准差, 导航坐标系下 北向, 东向和垂向
# initial position std, north, east and down in n-frame. [m, m, m]
initposstd: [ 0.005, 0.004, 0.008 ]

# 初始速度标准差, 导航坐标系下北向、东向和垂向速度
# initial velocity std, north, east and down speed in n-frame. [m/s, m/s, m/s]
initvelstd: [ 0.003, 0.004, 0.004 ]

# 初始姿态标准差, 横滚、俯仰、航向角标准差
# initial attitude std, roll, pitch and yaw std. [deg, deg, deg]
initattstd: [ 0.003, 0.003, 0.023 ]

# 初始IMU零偏和比例因子标准差, IMU的三个轴
# initial IMU bias and scale error std, thrss axes of the imu
# 如果不指定，默认按照IMU零偏和比例因子误差参数设定
# default to the noise parameters of IMU bias and scale error.
#initbgstd: [ 1, 1, 1 ]          # [deg/h]
#initbastd: [ 50, 50, 50 ]       # [mGal]
#initsgstd: [ 300, 300, 300 ]    # [ppm]
#initsastd: [ 300, 300, 300 ]    # [ppm]

# IMU噪声建模参数, IMU的三个轴
# IMU noise parameters
imunoise:
  arw: [0.003, 0.003, 0.003]          # [deg/sqrt(hr)]
  vrw: [0.03, 0.03, 0.03]          # [m/s/sqrt(hr)]
  gbstd: [0.027, 0.027, 0.027]        # [deg/hr]
  abstd: [15.0, 15.0, 15.0]     # [mGal]
  gsstd: [300.0, 300.0, 300.0]  # [ppm]
  asstd: [300.0, 300.0, 300.0]  # [ppm]
  corrtime: 4.0                    # [hr]

# 天线杆臂, IMU坐标系前右下方向
# antenna lever, forward, right and down in the imu frame. [m]
antlever:  [ 0.136, -0.301, -0.184 ]