86 lines
3.1 KiB
YAML
86 lines
3.1 KiB
YAML
# KF-GINS configuration file
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# Windows下使用KF-GINS时，文件路径中不能有中文
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# When you run KF-GINS under Windows, there should be NO Chinese in the file path.
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# IMU和GNSS数据文件路径
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# imudata and gnssdata filepath
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imupath: "./dataset/Leador-A15.txt"
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gnsspath: "./dataset/GNSS-RTK.txt"
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# 输出文件夹路径
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# output folder path
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outputpath: "./dataset"
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# IMU文件列数 (只会用前7列IMU数据)
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# IMU data columns, only use the first seven columns
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imudatalen: 7
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# IMU原始数据频率
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# IMU datarate [Hz]
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imudatarate: 200
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# 处理时间段，结束时间设置为-1时则处理至IMU文件结束
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# processing interval[s]
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# process until the imufile end if set endtime to -1
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starttime: 456300
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endtime: -1
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# 初始状态
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# initial state
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# 初始位置, 纬度 经度 高程
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# initial position, latitude, longitude, altitude. [deg, deg, m]
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initpos: [ 30.4447873701, 114.4718632047, 20.899 ]
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# 初始速度, 北向速度, 东向速度, 垂向速度
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# initial velocity, speed in the directions of north, east and down. [m/s, m/s, m/s]
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initvel: [ 0.0, 0.0, 0.0 ]
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# 初始姿态, 欧拉角(ZYX旋转顺序), 横滚, 俯仰, 航向
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# initial attitude, euler angle(ZYX rotation), roll, pitch, yaw [deg, deg, deg]
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initatt: [ 0.85421502, -2.03480295, 185.70235133 ]
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# 初始IMU零偏和比例因子, IMU的三个轴(前、右、下)
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# initial IMU bias and scale error, three axes of the imu (forward, right and down)
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initgyrbias: [ 0, 0, 0 ] # [deg/h]
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initaccbias: [ 0, 0, 0 ] # [mGal]
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initgyrscale: [ 0, 0, 0 ] # [ppm]
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initaccscale: [ 0, 0, 0 ] # [ppm]
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# 初始状态标准差
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# initial state std
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# 初始位置标准差, 导航坐标系下 北向, 东向和垂向
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# initial position std, north, east and down in n-frame. [m, m, m]
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initposstd: [ 0.005, 0.004, 0.008 ]
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# 初始速度标准差, 导航坐标系下北向、东向和垂向速度
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# initial velocity std, north, east and down speed in n-frame. [m/s, m/s, m/s]
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initvelstd: [ 0.003, 0.004, 0.004 ]
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# 初始姿态标准差, 横滚、俯仰、航向角标准差
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# initial attitude std, roll, pitch and yaw std. [deg, deg, deg]
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initattstd: [ 0.003, 0.003, 0.023 ]
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# 初始IMU零偏和比例因子标准差, IMU的三个轴
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# initial IMU bias and scale error std, thrss axes of the imu
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# 如果不指定，默认按照IMU零偏和比例因子误差参数设定
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# default to the noise parameters of IMU bias and scale error.
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#initbgstd: [ 1, 1, 1 ] # [deg/h]
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#initbastd: [ 50, 50, 50 ] # [mGal]
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#initsgstd: [ 300, 300, 300 ] # [ppm]
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#initsastd: [ 300, 300, 300 ] # [ppm]
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# IMU噪声建模参数, IMU的三个轴
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# IMU noise parameters
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imunoise:
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arw: [0.003, 0.003, 0.003] # [deg/sqrt(hr)]
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vrw: [0.03, 0.03, 0.03] # [m/s/sqrt(hr)]
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gbstd: [0.027, 0.027, 0.027] # [deg/hr]
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abstd: [15.0, 15.0, 15.0] # [mGal]
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gsstd: [300.0, 300.0, 300.0] # [ppm]
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asstd: [300.0, 300.0, 300.0] # [ppm]
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corrtime: 4.0 # [hr]
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# 天线杆臂, IMU坐标系前右下方向
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# antenna lever, forward, right and down in the imu frame. [m]
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antlever: [ 0.136, -0.301, -0.184 ]
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