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pseudo_real_time_estimation_LC.yaml
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pseudo_real_time_estimation_LC.yaml
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# GICI offline pseudo-real-time GNSS/IMU LC estimation
stream:
streamers:
- streamer:
tag: str_gnss_rov
output_tags: [fmt_gnss_rov]
type: file
path: <data-directory>/gnss_rover.bin
- streamer:
tag: str_gnss_ref
output_tags: [fmt_gnss_ref]
type: file
path: <data-directory>/gnss_reference.bin
- streamer:
tag: str_gnss_eph
output_tags: [fmt_gnss_eph]
type: file
path: <data-directory>/gnss_ephemeris.bin
- streamer:
tag: str_dcb_file
output_tags: [fmt_dcb_file]
type: file
path: <gici-root-directory>/option/CAS0MGXRAP_20221580000_01D_01D_DCB.BSX
enable_time_tag: false
- streamer:
tag: str_imu
output_tags: [fmt_imu]
type: file
path: <data-directory>/imu.bin
loop_duration: 0.001
- streamer:
tag: str_rtk_solution_file
input_tags: [fmt_rtk_solution_file]
type: file
path: <output-directory>/rtk_solution.txt
enable_time_tag: false
- streamer:
tag: str_lc_solution_file
input_tags: [fmt_lc_solution_file]
type: file
path: <output-directory>/lc_solution.txt
enable_time_tag: false
formators:
- formator:
io: input
tag: fmt_dcb_file
type: dcb-file
- formator:
io: input
tag: fmt_gnss_rov
type: gnss-raw
sub_type: tersus
- formator:
io: input
tag: fmt_gnss_ref
type: gnss-rtcm-3
start_time: 2023.03.20
- formator:
io: input
tag: fmt_gnss_eph
type: gnss-rtcm-3
start_time: 2023.03.20
- formator:
io: input
tag: fmt_imu
type: imu-pack
- formator:
io: output
tag: fmt_rtk_solution_file
type: nmea
use_esa: true
use_esd: true
talker_id: GP
- formator:
io: output
tag: fmt_lc_solution_file
type: nmea
use_esa: true
talker_id: GP
replay:
enable: true
speed: 1.0
start_offset: 0.0
estimate:
- estimator:
tag: est_rtk
type: rtk
input_tags: [fmt_gnss_rov, fmt_gnss_ref, fmt_gnss_eph, fmt_dcb_file]
fmt_gnss_rov_roles: [rover]
fmt_gnss_ref_roles: [reference]
fmt_gnss_eph_roles: [ephemeris]
fmt_dcb_file_roles: [code_bias]
output_tags: [fmt_rtk_solution_file]
output_align_tag: fmt_gnss_rov
compute_covariance: true
rtk_options:
max_window_length: 3
use_ambiguity_resolution: true
estimate_velocity: true
gnss_estimator_base_options:
gnss_common:
min_elevation: 12.0
min_SNR: [35.0, 30.0]
system_exclude: [R, E, C]
code_exclude: [G|5Q]
mw_slip_thres: 0.5
gf_slip_thres: 0.05
gf_sd_slip_thres: 0.05
use_outlier_rejection: true
max_pesudorange_error: 4.0
max_phaserange_error: 0.06
max_doppler_error: 0.5
estimator_base_options:
max_iteration: 5
num_threads: 2
max_solver_time: 0.02
verbose_output: false
solver_type: dense_schur
trust_region_strategy_type: dogleg
ambiguity_resolution_options:
system_exclude: [R]
min_percentage_fixation_uwl: 1.0
min_percentage_fixation_wl: 0.9
min_percentage_fixation_nl: 0.9
ratio: 2.0
- estimator:
tag: est_gnss_imu_lc
type: gnss_imu_lc
input_tags: [fmt_imu, est_rtk]
fmt_imu_roles: [major]
est_rtk_roles: [position_and_velocity]
output_tags: [fmt_lc_solution_file]
output_align_tag: fmt_imu
output_downsample_rate: 40
gnss_imu_lc_options:
max_window_length: 3
gnss_loose_estimator_base_options:
imu_estimator_base_options:
imu_parameters:
sigma_bg: 1.0e-3
sigma_ba: 1.0e-2
sigma_g_c: 2.6700e-04
sigma_a_c: 0.0112
sigma_gw_c: 2.0881e-06
sigma_aw_c: 2.7361e-04
car_motion: true
body_to_imu_rotation: [-90.0, -90.0, 0.0]
body_to_imu_rotation_std: 5.0
car_motion_min_velocity: 3.0
car_motion_max_anguler_velocity: 5.0
estimator_base_options:
max_iteration: 5
num_threads: 4
max_solver_time: 0.05
verbose_output: true
solver_type: sparse_normal_cholesky
trust_region_strategy_type: dogleg
gnss_imu_initializer_options:
max_iteration: 30
num_threads: 4
max_solver_time: 0.5
gnss_extrinsics: [-0.029, 0.354, -0.042]
gnss_extrinsics_initial_std: [0.0, 0.0, 0.0]
time_window_length_slow_motion: 0.05
time_window_length_dynamic_motion: 0.5
min_acceleration: 0.5
logging:
enable: true
min_log_level: 0
log_to_stderr: true
file_directory: <log-directory>