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ros_real_time_estimation_RTK.yaml
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# GICI offline pseudo-real-time RTK estimation with ROS topics as input and output.
stream:
streamers:
- streamer:
tag: str_ros_gnss_rov
type: ros
topic_name: /gici/gnss_rover
io: input
format: gnss_raw
enable_observation: true
- streamer:
tag: str_ros_gnss_ref
type: ros
topic_name: /gici/gnss_reference
io: input
format: gnss_raw
enable_observation: true
enable_antenna_position: true
- streamer:
tag: str_ros_gnss_eph
type: ros
topic_name: /gici/gnss_ephemeris
io: input
format: gnss_raw
enable_ephemeris: true
enable_ionosphere_parameter: true
- 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_rtk_solution_file
input_tags: [fmt_rtk_solution_file]
type: file
path: <output-directory>/rtk_solution.txt
enable_time_tag: false
- streamer:
tag: str_solution
type: ros
topic_name: solution
queue_size: 5
io: output
format: pose_stamped
- streamer:
tag: str_solution_odometry
type: ros
topic_name: solution_odometry
queue_size: 10
io: output
format: odometry
subframe_id: Body
- streamer:
tag: str_solution_path
type: ros
topic_name: solution_path
queue_size: 100
io: output
format: path
formators:
- formator:
io: input
tag: fmt_dcb_file
type: dcb-file
- formator:
io: output
tag: fmt_rtk_solution_file
type: nmea
use_esa: true
use_esd: true
talker_id: GP
replay:
enable: false
estimate:
- estimator:
tag: est_rtk
type: rtk
input_tags: [str_ros_gnss_rov, str_ros_gnss_ref, str_ros_gnss_eph, fmt_dcb_file]
str_ros_gnss_rov_roles: [rover]
str_ros_gnss_ref_roles: [reference]
str_ros_gnss_eph_roles: [ephemeris]
fmt_dcb_file_roles: [code_bias]
output_tags: [fmt_rtk_solution_file, str_solution, str_solution_odometry, str_solution_path]
output_align_tag: str_ros_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
logging:
enable: true
min_log_level: 0
log_to_stderr: true
file_directory: <log-directory>