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pseudo_real_time_estimation_PPP_TC.yaml
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# GICI offline pseudo-real-time PPP 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_eph
output_tags: [fmt_gnss_eph]
type: file
path: <data-directory>/gnss_ephemeris.bin
- streamer:
tag: str_gnss_ssr
output_tags: [fmt_gnss_ssr]
type: file
path: <data-directory>/gnss_ssr.bin
- streamer:
tag: str_gnss_atx
output_tags: [fmt_gnss_atx]
type: file
path: <gici-root-directory>/option/igs14.atx
enable_time_tag: false
- 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_solution_file
input_tags: [fmt_solution_file]
type: file
path: <output-directory>/ppp_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_eph
type: gnss-rtcm-3
start_time: 2023.05.21
- formator:
io: input
tag: fmt_gnss_ssr
type: gnss-rtcm-3
start_time: 2023.05.21
- formator:
io: input
tag: fmt_gnss_atx
type: atx-file
- formator:
io: input
tag: fmt_dcb_file
type: dcb-file
- formator:
io: input
tag: fmt_imu
type: imu-pack
- 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_ppp
type: ppp
input_tags: [fmt_gnss_rov, fmt_gnss_eph, fmt_gnss_ssr, fmt_dcb_file, fmt_gnss_atx]
fmt_gnss_rov_roles: [rover]
fmt_gnss_eph_roles: [ephemeris]
fmt_gnss_ssr_roles: [ssr_ephemeris]
fmt_dcb_file_roles: [code_bias]
fmt_gnss_atx_roles: [phase_center]
output_tags: [fmt_solution_file]
output_align_tag: fmt_gnss_rov
compute_covariance: false
ppp_options:
max_window_length: 3
use_ambiguity_resolution: false
estimate_velocity: true
gnss_estimator_base_options:
use_outlier_rejection: true
max_pesudorange_error: 4.0
max_phaserange_error: 0.03
gnss_error_parameter:
code_to_phase_ratio: 1000.0
gnss_common:
min_elevation: 12.0
min_SNR: [30.0, 30.0]
# system_exclude: [R]
estimator_base_options:
max_iteration: 5
num_threads: 2
max_solver_time: 0.02
verbose_output: true
solver_type: dense_schur
trust_region_strategy_type: dogleg
log_intermediate_data: false
log_intermediate_data_directory: <log-directory>
- estimator:
tag: est_gnss_imu_tc
type: ppp_imu_tc
input_tags: [fmt_gnss_rov, fmt_gnss_eph, fmt_gnss_ssr, fmt_gnss_atx, fmt_imu, fmt_dcb_file]
fmt_gnss_rov_roles: [rover]
fmt_gnss_eph_roles: [ephemeris]
fmt_gnss_ssr_roles: [ssr_ephemeris]
# fmt_gnss_ssr_roles: [ssr_ephemeris, code_bias]
fmt_gnss_atx_roles: [phase_center]
fmt_dcb_file_roles: [code_bias]
fmt_imu_roles: [major]
output_tags: [fmt_solution_file]
output_align_tag: fmt_gnss_rov
compute_covariance: false
ppp_imu_tc_options:
max_window_length: 3
ppp_options:
use_ambiguity_resolution: false
gnss_estimator_base_options:
use_outlier_rejection: true
reject_one_outlier_once: true
max_pesudorange_error: 4.0
max_phaserange_error: 0.03
gnss_error_parameter:
code_to_phase_ratio: 500.0
gnss_common:
min_num_satellite_redundancy: 0
min_elevation: 12.0
min_SNR: [30.0, 30.0]
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
body_to_imu_rotation: [-90.0, -90.0, 0.0]
body_to_imu_rotation_std: 5.0
car_motion: true
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: dense_schur
trust_region_strategy_type: dogleg
log_intermediate_data: false
log_intermediate_data_directory: <log-directory>
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>