# 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]
400
# gyroscope bias std [deg/h]
4.83
# accelerator scale std [ppm]
1000
# gyroscope scale std [ppm]
1000
# accelerator correspond time h
1
# gyroscopes correspond time h
1
# IMU rate
128
#align mode 0: Use given 1: Moving 2:Static
1
# NHC enable
1
# NHC var [m/s]
0.01
# ZUPT enable
1
# ZUPT var [m/s]
0.01
# ZUPTA var [deg]
0.01
# antenna level arm [m]
0.1 0.3 0.2
#odometer enable
1
#odometer var [m/s]
0.01
# odometer scale
1.29
# wheel radius [m]
0.37
# enable gnss (disable for debug indoor)
1
END OF CONFIG