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pseudo_real_time_estimation_RTK.yaml
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# GICI offline pseudo-real-time RTK estimation.
# You can uncomment the node configuration to publish related topics and observe estimation results (Build GICI in ROS wrapper).
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_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: 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: output
tag: fmt_rtk_solution_file
type: nmea
use_esa: true
use_esd: true
talker_id: GP
replay:
enable: true
speed: 1.0
start_offset: 10.0
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_tags: [fmt_rtk_solution_file, str_solution, str_solution_odometry, str_solution_path]
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
logging:
enable: true
min_log_level: 0
log_to_stderr: true
file_directory: <log-directory>