(window.webpackJsonp=window.webpackJsonp||[]).push([[577],{896:function(_,t,v){"use strict";v.r(t);var a=v(10),r=Object(a.a)({},(function(){var _=this,t=_._self._c;return t("ContentSlotsDistributor",{attrs:{"slot-key":_.$parent.slotKey}},[t("h1",{attrs:{id:"载体配置"}},[t("a",{staticClass:"header-anchor",attrs:{href:"#载体配置"}},[_._v("#")]),_._v(" 载体配置")]),_._v(" "),t("p",[_._v("Sigma 支持多种载体动力学模型与辅助滤波开关。正确选型可对滤波器施加合理约束（如车载非完整性约束 NHC），提高导航稳定性。")]),_._v(" "),t("h2",{attrs:{id:"基本步骤"}},[t("a",{staticClass:"header-anchor",attrs:{href:"#基本步骤"}},[_._v("#")]),_._v(" 基本步骤")]),_._v(" "),t("ol",[t("li",[_._v("在 FDIGroundStation → Config → "),t("strong",[_._v("DYNAMICS")]),_._v(" 中选择与实际载体最接近的模型。车载场景建议优先选择 "),t("code",[_._v("AUTODRIVER_MODEL")]),_._v("（名称以软件版本为准）。")]),_._v(" "),t("li",[t("strong",[_._v("选错模型可能导致性能下降")]),_._v("；不确定时可先选较通用配置，再结合路测微调。")]),_._v(" "),t("li",[_._v("保存参数到模组后重启或按提示使之生效。")])]),_._v(" "),t("h2",{attrs:{id:"车载-nhc-推荐"}},[t("a",{staticClass:"header-anchor",attrs:{href:"#车载-nhc-推荐"}},[_._v("#")]),_._v(" 车载 NHC（推荐）")]),_._v(" "),t("p",[_._v("在完成 RBV 校准（设备坐标系与载体坐标系对齐）后，可启用：")]),_._v(" "),t("ul",[t("li",[t("code",[_._v("AID_CAR_CENT_ACCEL_NHC_ENABLED")])]),_._v(" "),t("li",[t("code",[_._v("AID_CAR_YZ_ZERO_VEL_NHC_ENABLED")])])]),_._v(" "),t("p",[_._v("模组宜安装于"),t("strong",[_._v("后轮中心")]),_._v("；否则需在 ODOM 中填写后轮中心相对惯导的杆臂。NHC 有助于在 GNSS 中断时抑制 INS 误差发散。目前手册侧对汽车场景的优化说明更充分；其他载体请按实际动力学选型。")]),_._v(" "),t("h2",{attrs:{id:"常用-aid-开关-参考"}},[t("a",{staticClass:"header-anchor",attrs:{href:"#常用-aid-开关-参考"}},[_._v("#")]),_._v(" 常用 AID 开关（参考）")]),_._v(" "),t("p",[_._v("默认配置中常见：")]),_._v(" "),t("ul",[t("li",[t("code",[_._v("AID_ACCEL_GRAVITY")]),_._v("：加速度计稳定横滚 / 俯仰")]),_._v(" "),t("li",[t("code",[_._v("AID_GNSS_DUAL_ANT_HEADING_UPDATE")]),_._v("：双天线航向融合")]),_._v(" "),t("li",[t("code",[_._v("AID_GNSS_POS/VEL_UPDATE")]),_._v("：GNSS 位置 / 速度融合")]),_._v(" "),t("li",[t("code",[_._v("AID_ZERO_VEL_UPDATE")]),_._v("：静止超时零速修正")])]),_._v(" "),t("p",[_._v("界面操作与 AID 开关细节见 "),t("RouterLink",{attrs:{to:"/developers/fdigroundstation/FDIGC.html"}},[_._v("FDIGroundStation")]),_._v("。")],1)])}),[],!1,null,null,null);t.default=r.exports}}]);