# this file is use for real time navigation. The format is defined as following:
# 1. every comment begins with '#' and empty line with only a '\n' is allowed but not recommended
# 2. the sequence of each parameter is stationary
# 3. END OF CONFIG\n donates the end of this file
# arw [deg/sqrt_Hz]
0.112
# vrw [m/s/sqrt_Hz]
0.0025
# accelerator bias [mGal]
0 -0 -0
# gyroscope bias [mGal]
0 0 0
# accelerator scale [ppm]
0 0 0
# gyroscope scale [ppm]
0 0 0
# accelerator bias std [mGal]
3.6 3.6 3.6
# gyroscope bias std [deg/h]
1 1 1
# accelerator scale std [ppm]
300 300 300
# gyroscope scale std [ppm]
300 300 300
# accelerator correspond time h
2
# gyroscopes correspond time h
2
# IMU rate
125
#align mode 0: Use given 1: Moving 2:Static
1
#Moving align,the threshold of velocity
0.1
# enable gnss (disable for debug indoor)
0
# gnss antenna level arm [m]
0.1 0.3 0.2
# gnss_std_scale
1
# NHC enable
1
# NHC std [m/s]
0.01 0.01
# ZUPT enable
1
# ZUPT std [m/s]
0.01
# ZUPTA enable
1
# ZUPTA std [deg]
0.01
#odometer enable
1
#odometer std [m/s]
0.01
# odometer scale
1.29
# odometer scale std
0
# wheel level arm [m]
0.1 0.3 0.2
# wheel install angle [deg]
0 0 0
# initial pos-std [m]
1 1 1
#initial velocity std
1 1 1
# initial attitude std [deg]
5 5 5
# output project enable
0
# output project position [m]
3 4 1
# output project attitude [deg]
1 2 1
# enable rts, this is invalid for real-time application
0
END OF CONFIG