(window.webpackJsonp=window.webpackJsonp||[]).push([[274],{597:function(t,e,a){"use strict";a.r(e);var l=a(10),_=Object(l.a)({},(function(){var t=this,e=t._self._c;return e("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[e("h1",{attrs:{id:"config界面"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#config界面"}},[t._v("#")]),t._v(" Config界面")]),t._v(" "),e("fdi-img",{attrs:{width:"100%",alt:"IMU",src:"/fdigroundstation/1/config/图片44.png",caption:""}}),t._v(" "),e("p",[t._v("上位机顶部的 "),e("strong",[t._v("Config")]),t._v(" 界面用于参数配置、校准、滤波器及输出数据包配置。")]),t._v(" "),e("p",[t._v("Config界面主要由两部分组成：")]),t._v(" "),e("ul",[e("li",[e("strong",[t._v("第一部分")]),t._v("：包含 Onboard parameters 与 Firmware Update。\n"),e("ul",[e("li",[e("strong",[t._v("Onboard parameters")]),t._v("：显示 FDISYSTEMS 全部参数，支持刷新、发送、保存、读取、另存为文件等操作；另提供恢复出厂设置、重启系统，以及 IMU 陀螺仪 / 加速度计零偏校准、调平等功能。其中卡尔曼滤波器 SPKF 配置，以及传感器出厂时刻度因子、耦合误差、零偏等参数一般无需改动。用户常用分组含义见下文 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"),e("td",{staticStyle:{"text-align":"left"}},[t._v("端口协议、波特率、数据包频率")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/输入输出配置.html"}},[t._v("输入输出配置")])],1)]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("a",{attrs:{href:"#dynamics-%E5%8F%82%E6%95%B0"}},[t._v("DYNAMICS")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("动力学模型")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("见下文")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("a",{attrs:{href:"#gpio-%E5%8F%82%E6%95%B0"}},[t._v("GPIO")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("1PPS 输入 / 输出")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("见下文 "),e("a",{attrs:{href:"#gpio-%E6%A8%A1%E5%9D%97"}},[t._v("GPIO 模块")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("a",{attrs:{href:"#imu--mag-%E7%AD%89"}},[t._v("IMU / MAG 等")])]),t._v(" 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NOTCH2")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("陷波，抑制指定中心频率附近窄带干扰")])])])]),t._v(" "),e("p",[t._v("完整参数名与示例见 "),e("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/低通滤波器和陷波滤波器.html"}},[t._v("低通滤波器和陷波滤波器")]),t._v("。")],1),t._v(" "),e("h3",{attrs:{id:"aid-参数"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#aid-参数"}},[t._v("#")]),t._v(" AID 参数")]),t._v(" "),e("p",[t._v("各路辅助量测是否参与 SPKF 融合的开关（0 关 / 1 开）。车载 NHC 类开关仅适用于对应载体模型，误开可能降精度。")]),t._v(" "),e("p",[t._v("完整列表与释义见 "),e("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/spkf.html"}},[t._v("AID 开关说明")]),t._v("。")],1),t._v(" "),e("h3",{attrs:{id:"comm-msg-参数"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#comm-msg-参数"}},[t._v("#")]),t._v(" COMM / MSG 参数")]),t._v(" "),e("p",[t._v("左侧参数表与右侧 "),e("strong",[t._v("COMM")]),t._v("、"),e("strong",[t._v("MSGOUT")]),t._v(" 面板对应：")]),t._v(" "),e("ul",[e("li",[e("strong",[t._v("COMM")]),t._v("：各 COM 口波特率、端口协议（Main / NAV / NMEA(OUT) / RTCM 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"),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"left"}},[t._v("参数")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("含义")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("code",[t._v("DYNAMICS_MODEL")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("应用动力学模型。默认为0，对应 "),e("code",[t._v("GENERAL_MODEL")]),t._v("模型；1对应 "),e("code",[t._v("AUTODRIVER_MODEL")]),t._v(" 模型")])])])]),t._v(" "),e("p",[t._v("非完整性约束等开关在 "),e("strong",[t._v("AID")]),t._v(" 中配置，勿与动力学模型混淆。")]),t._v(" "),e("h3",{attrs:{id:"gpio-参数"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#gpio-参数"}},[t._v("#")]),t._v(" GPIO 参数")]),t._v(" "),e("p",[t._v("用于配置 "),e("strong",[t._v("1PPS Input")]),t._v("（输入 GNSS 1PPS，上升沿有效）与 "),e("strong",[t._v("1PPS Output")]),t._v("（输出 1PPS）。部分机型（如 DETA100、EPSILON）GPIO1 默认与内部 GNSS 的 1PPS 相连。界面操作见下文 "),e("a",{attrs:{href:"#gpio-%E6%A8%A1%E5%9D%97"}},[t._v("GPIO 模块")]),t._v("。")]),t._v(" "),e("h3",{attrs:{id:"imu-mag-等"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#imu-mag-等"}},[t._v("#")]),t._v(" IMU / MAG 等")]),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"left"}},[t._v("分组")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("建议")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("IMU")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("含出厂刻度、耦合、零偏及 SPKF 内部参数，"),e("strong",[t._v("一般勿改")]),t._v("。零偏 / 调平用界面按钮，见 "),e("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/重启调平.html"}},[t._v("重启、调平与参数导入导出")])],1)]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("MAG")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("软硬磁等多项由校准写入；日常通过 Mag 校准面板操作，见 "),e("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/magCal.html"}},[t._v("磁力计校准说明")])],1)]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("SENSOR")]),t._v("（Config 面板）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("加速度计 / 陀螺仪量程：量程越小分辨率越高，按应用选择")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("Offset")]),t._v("（Config 面板）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("安装角、当地重力、磁偏角 / 磁倾角等，与 BODY 等参数表对应")])])])]),t._v(" "),e("p",[e("strong",[t._v("DEBUG")]),t._v(" 等分组多为内部调试项，用户集成通常无需修改；若界面出现未知参数，可 "),e("strong",[t._v("Save File")]),t._v(" 导出后联系技术支持确认。")]),t._v(" "),e("h2",{attrs:{id:"config-面板"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#config-面板"}},[t._v("#")]),t._v(" Config 面板")]),t._v(" "),e("p",[t._v("右侧 "),e("strong",[t._v("Config")]),t._v(" 面板与左侧 Onboard parameters 对应同一套配置，是日常改端口、融合开关、量程、GPIO 与数据包输出的主入口。修改后一般需 "),e("strong",[t._v("Save to FDI…")]),t._v("（写入永久存储）再 "),e("strong",[t._v("Restart")]),t._v(" 才生效。")]),t._v(" "),e("h3",{attrs:{id:"dynamics-模块"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#dynamics-模块"}},[t._v("#")]),t._v(" DYNAMICS 模块")]),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"left"}},[t._v("项")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("说明")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("做什么")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("选择应用动力学模型（"),e("code",[t._v("DYNAMICS_MODEL")]),t._v("）")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("常用项")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("默认 "),e("code",[t._v("GENERAL_MODEL")]),t._v("；车载可选用 "),e("code",[t._v("AUTODRIVER_MODEL")]),t._v("（基于非完整性约束，要求载体无明显侧滑）")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("注意")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("非完整性约束等开关在 "),e("strong",[t._v("AID")]),t._v(" 中配置，勿与动力学模型混淆；其余运动学模型待更新")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("详解")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("见左侧 "),e("a",{attrs:{href:"#dynamics-%E5%8F%82%E6%95%B0"}},[t._v("DYNAMICS 参数")])])])])]),t._v(" "),e("h3",{attrs:{id:"comm-模块"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#comm-模块"}},[t._v("#")]),t._v(" COMM 模块")]),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"left"}},[t._v("项")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("说明")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("做什么")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("配置各 COM 口的波特率与端口协议（TYPE）")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("常用项")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("COM1 默认 "),e("strong",[t._v("Main")]),t._v("（连接上位机）；其余口可设为 NAV、NMEA(OUT)、Ublox、RTCM 等")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("注意")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("系统须保留一个 Main；部分机型内置 GNSS / 4G 相关口禁止修改（见下表）")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("详解")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("协议含义见 "),e("RouterLink",{attrs:{to:"/developers/02-fdilink/config-command/FDILink指令配置说明.html#表2-端口协议类型说明"}},[t._v("表2 端口协议类型说明")]),t._v("；操作步骤见 "),e("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/输入输出配置.html"}},[t._v("输入输出配置")]),t._v("；NMEA 输出见 "),e("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/COM口NMEA输出配置.html"}},[t._v("COM 口 NMEA 输出配置")])],1)])])]),t._v(" "),e("p",[t._v("各系列可用 COM 口数量及默认协议如下：")]),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("COMM")])]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("DETA10/20/30")])]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("DETA40")])]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("DETA90")])]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("DETA100")])]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("EPSILON")])]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("SIGMA")])])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("COM1")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Main（不建议改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Main（不建议改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Main（不建议改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Main（不建议改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Main（不建议改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Main（不建议改）")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("COM2")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改）")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("COM3")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("UM982（禁止修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Ublox（禁止修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("UM982/Ublox（禁止修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改）")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("COM4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改，CAN）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改，CAN）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改，CAN）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("RTCM_EC600（禁止修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改）")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("COM5")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("—（不可用）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("—（不可用）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("—（不可用）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改，CAN）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改，CAN）")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("None（可修改，CAN）")])])])]),t._v(" "),e("p",{staticClass:"table-caption"},[t._v("表: FDISYSTEMS 系列产品的 COMM 口配置说明")]),t._v(" "),e("blockquote",[e("p",[e("strong",[t._v("注：")]),t._v(" Sigma 网口版 COM3 为以太网，配置 IP / 协议见 "),e("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/以太网配置.html"}},[t._v("以太网配置")]),t._v("，不设置串口波特率。")],1)]),t._v(" "),e("h3",{attrs:{id:"aid-模块"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#aid-模块"}},[t._v("#")]),t._v(" AID 模块")]),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"left"}},[t._v("项")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("说明")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("做什么")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("配置各路辅助量测是否参与 SPKF 融合（0 关 / 1 开）")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("常用项")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("GNSS、磁力计、零速更新、里程计等开关")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("注意")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("车载 NHC 类开关仅适用于对应载体模型，误开可能降精度；测试中途乱改开关易导致位姿突变")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("详解")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/spkf.html"}},[t._v("AID 开关说明")])],1)])])]),t._v(" "),e("h3",{attrs:{id:"sensor-模块"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#sensor-模块"}},[t._v("#")]),t._v(" SENSOR 模块")]),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"left"}},[t._v("项")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("说明")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("做什么")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("配置加速度计与陀螺仪量程")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("常用项")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Acc / Gyro 量程档位")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("注意")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("量程越小分辨率越高，但易超量程；请按实际动态选择")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("详解")])]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("见下图；相关参数亦可在 Onboard 的 SENSOR / IMU 分组查看")])])])]),t._v(" "),e("fdi-img",{attrs:{width:"100%",alt:"SENSOR 量程配置",src:"/fdigroundstation/1/config/图片45.png",caption:""}}),t._v(" "),e("h3",{attrs:{id:"gpio-模块"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#gpio-模块"}},[t._v("#")]),t._v(" GPIO 模块")]),t._v(" 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