pseudo_real_time_estimation_SDGNSS.yaml

# GICI offline pseudo-real-time SDGNSS estimation
stream:
  streamers:
  - streamer:
      tag: str_gnss_rov_file
      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_solution_file
      input_tags: [fmt_solution_file]
      type: file
      path: <output-directory>/sdgnss_solution.txt
      enable_time_tag: false

  formators:
  - 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: 2023.05.21
  - formator:
      io: input
      tag: fmt_gnss_eph
      type: gnss-rtcm-3
      start_time: 2023.05.21
  - formator:
      io: input
      tag: fmt_dcb_file
      type: dcb-file
  - formator:
      io: output
      tag: fmt_solution_file
      type: nmea 
      use_esa: true
      talker_id: GP

  replay:
    enable: true
    speed: 1.0
    start_offset: 0.0

estimate:
- estimator:
    tag: est_gnss
    type: sdgnss
    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_solution_file]
    output_align_tag: fmt_gnss_rov
    compute_covariance: false
    sdgnss_options:
      estimate_velocity: true
    gnss_estimator_base_options:
      gnss_common:
        min_elevation: 12.0
        min_SNR: [35.0, 30.0]
      use_outlier_rejection: true
      max_pesudorange_error: 10.0
    estimator_base_options:
      max_iteration: 10
      num_threads: 2
      max_solver_time: 0.05
      verbose_output: true
      solver_type: dense_schur
      trust_region_strategy_type: dogleg

logging:
  enable: true
  min_log_level: 0
  log_to_stderr: true
  file_directory: <log-directory>