imu-path: /media/rebeater/hd_data2/workspace/raw_data/m39_0710/M39_20190710.imu
imu-parameter-cfg: /media/rebeater/hd_data2/workspace/raw_data/m39_0710/imu_m39_parameter.yml
gnss-path: /media/rebeater/hd_data2/workspace/raw_data/m39_0710/M39_20190710.gps
output-path: /media/rebeater/hd_data2/workspace/raw_data/m39_0710/M39_20190710_python_v2.nav
start-time: 199500
end-time: 203000
imu-data-rate: 200
#--------------------------------------------------------------------------------#
alignment-mode: 0 # 0: useGiven 1: Moving 2: Stationary(not implement yet)
alignment-epoch:
  - 0 #　GPS week
  - 199500.0000 # second of week
  - 30.455697675700002  # latitude
  - 114.459644586099998   # longitude
  - 29.807710000000000  # height
  - 12.723890000000001 # v_n (m/s)
  - -3.443590000000000 # v_e
  - 0.0127100000000 # v_d
  -  -0.78282000000 # roll (deg)
  - 0.900130000    # pitch (deg)
  - 344.2981300000  # yaw (deg)
init-pos-std:
  - 0.4 # m
  - 0.1 # m
  - 0.5 # m
init-vel-std:
  - 0.1 # m/s
  - 0.1 # m/s
  - 0.1 # m/s
init-atti-std:
  - 0.27  # deg
  - 0.27  # deg
  - 0.3  # 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: 2  #
# 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:
  - 0.449 #　forward
  - -0.08 # right
  - -1.21 # down
#--------------------------------------------------------------------------------#
odo-enable: 0 # 0: disable odometer 1: enable odometer
odo-wheel-radius: 0 # 车轮半径
odo-level-arm: [0,0,0]
#--------------------------------------------------------------------------------#