86 lines
2.9 KiB
YAML
86 lines
2.9 KiB
YAML
# 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: ""
|
||
gnsspath: ""
|
||
|
||
# 输出文件夹路径
|
||
# output folder path
|
||
outputpath: ""
|
||
|
||
# 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: 0
|
||
endtime: 0
|
||
|
||
# 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: [ 30.5, 114, 20 ]
|
||
|
||
# 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: [ 0.0, 0.0, 0.0 ]
|
||
|
||
# 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: [ 0.1, 0.1, 0.2 ]
|
||
|
||
# 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: [ 0.05, 0.05, 0.05 ]
|
||
|
||
# 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: [ 0.5, 0.5, 1.0 ]
|
||
|
||
# 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: [ 50, 50, 50 ] # [deg/h]
|
||
#initbastd: [ 250, 250, 250 ] # [mGal]
|
||
#initsgstd: [ 1000, 1000, 1000 ] # [ppm]
|
||
#initsastd: [ 1000, 1000, 1000 ] # [ppm]
|
||
|
||
# IMU噪声建模参数, IMU的三个轴
|
||
# IMU noise parameters
|
||
imunoise:
|
||
arw: [0.24, 0.24, 0.24] # [deg/sqrt(hr)]
|
||
vrw: [0.24, 0.24, 0.24] # [m/s/sqrt(hr)]
|
||
gbstd: [50.0, 50.0, 50.0] # [deg/hr]
|
||
abstd: [250.0, 250.0, 250.0] # [mGal]
|
||
gsstd: [1000.0, 1000.0, 1000.0] # [ppm]
|
||
asstd: [1000.0, 1000.0, 1000.0] # [ppm]
|
||
corrtime: 1.0 # [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 ]
|