imu-path: /media/rebeater/hd_data2/workspace/raw_data/demo/demo_A15/A15_imu.imu
imu-parameter-cfg: /media/rebeater/hd_data2/workspace/raw_data/demo/demo_A15/imu_A15_parameter.yml
gnss-path: /media/rebeater/hd_data2/workspace/raw_data/demo/demo_A15/gnss_rtk.gps
output-path: /media/rebeater/hd_data2/workspace/raw_data/demo/demo_A15/A15_v2_rslt.nav
start-time: 456300
end-time: 459664
imu-data-rate: 200
#--------------------------------------------------------------------------------#
alignment-mode: 1 # 0: useGiven 1: Moving 2: Stationary(not implement yet)
alignment-epoch:
  - 0 #　GPS week
  - 456300.0000 # second of week
  - 30.4447873696  # latitude
  -  114.4718632476   # longitude
  - 20.910  # height
  - 0 # v_n (m/s)
  - 0 # v_e
  - 0 # v_d
  -  0.85252308 # roll (deg)
  - -2.03396435    # pitch (deg)
  - 185.69625052  # yaw (deg)
init-pos-std:
  - 0.004 # m
  - 0.001 # m
  - 0.005 # m
init-vel-std:
  - 0 # m/s
  - 0 # m/s
  - 0 # m/s
init-atti-std:
  - 0.027  # deg
  - 0.027  # deg
  - 0.03  # deg for SPP is so 不靠谱
alignment-moving-vel: 3 # m/s threshold velocity for moving align
nhc-enable: 0
zupt-enable: 0
#--------------------------------------------------------------------------------#
gnss-format: 0  #
# GNSS_TXT_POS_7 = 0,
# GNSS_BIN_POS_7 = 1,
# GNSS_TXT_POS_14 = 2,
# GNSS_BIN_POS_14 = 3,
# RTKLIB_TXT_POS = 4,
# GNSS_TXT_POS_VEL = 5,
# RESERVED = 6,
gnss-data-rate: 1
antenna-level-arm:
  - 0.136 #　forward
  - -0.301 # right
  - -0.184 # down
#--------------------------------------------------------------------------------#
odo-enable: 0 # 0: disable odometer 1: enable odometer
odo-wheel-radius: 0 # 车轮半径
odo-level-arm: [0,0,0]
#--------------------------------------------------------------------------------#