ignav configuration

ignav中的坐标系

n-frame：n-e-d 　　

b-frame：f-r-d

 

 

stats-eratio1 =100
stats-eratio2 =100
stats-errphase =0.003 　　 # (m)　　　　高度角随机模型 ：a*a+b*b/(sinel*sinel*)中的a，论文中说a=0.004m
stats-errphaseel =0.003　   # (m)　　　　高度角随机模型 ：a*a+b*b/(sinel*sinel*)中的b，论文中说b=0.003m
stats-errphasebl =0 　　     # (m/10km)
stats-errdoppler =10 　　   # (Hz)
stats-stdbias =30 　　  　  # (m)
stats-stdiono =0.03　　     # (m)
stats-stdtrop =0.3  　　      # (m)
stats-prnaccelh =10 　　   # (m/s^2)
stats-prnaccelv =10 　　   # (m/s^2)
stats-prnbias =0.0001 　    # (m)
stats-prniono =0.001 　　 # (m)
stats-prntrop =0.0001 　    # (m)
stats-clkstab =5e-12 　　  # (s/s)

ins-leverarm1 = 0.0 　　 # lever arm from INS to GPS antenna  in frd-frame (pos-gnss = pos-ins + Cbe*L^b )
ins-leverarm2 = 0.153
ins-leverarm3 =-0.179

 

ins-imuformat =2          # imu measurement data format
ins-imudecfmt =1          # imu measurement decode format  (1: angular rate/acceleration, 2:angular/velocity increment)
ins-imucoors =2           # imu body coordinate frame(1:前右下，2：右前上)
ins-imuvalfmt =1          # imu measurement gyro data value format（1:degree, 2:rad）
ins-exprn =0                 # use extend method to get process noise matrix
ins-exphi =0                 # use precise system propagate matrix for ekf
ins-exvm =0                 # extend method to velocity matching for ins navigation initial
ins-iisu =2                   # initial ins state use rtk options (SOLQ_???)
ins-nhc =0                   # non-holonomic constraint options (0:off,1:on)
ins-zvu =0                   # zero velocity update options (0:off,1:on)
ins-zaru =0                 # zero augular rate update options (0:off,1:on)
ins-detst =0                # detect static imu measurement data (0:off,1:on)
ins-tc =4                    # ins-gnss tightly coupled mode (INSTC_???)---------------------------1.single point position 2.PPP-kinematic 3.DGPS 4.RTK
ins-lc =                      # ins-gnss loosely coupled mode (INSLC_???)
ins-doppler =            # use doppler measurement to aid ins updates states
ins-intpref =
ins-minp =
ins-hz =200.0            # imu measurement sampling frequency
ins-nhz =100.0          # non-holonomic constraint update frequency
ins-lcopt =3              # ins-gnss loosely coupled use gnss observation or gsof message-----1.gsof message data 2.code/phase observation data 3.pvt solution data