Type signature: (observables->observables)

Takes observables stream (with antenna and barometer assumed to be stationary) and replaces IMU and magnetometer measurements with simulated data assuming the INS is following an arbitrary pure rotation, sufficient to let kf2 initialize.

Requires the ECEF position of the antenna and approximate time to be specified in order to calculate sample gravitational and magnetic field models. If you don't know your ECEF position, you can run simple-pvt-solver to get a GPS fix, then put that into this node to let kf2 initialize properly.

Help

Usage:

synthesize-sensor-measurements [OPTION]...

Allowed options:

Option	Description
`--help`	produce help message
`--position-ecef arg`	ECEF position of antenna as a 3-length JSON array
`--gnss-time arg` (=1298764800.000000000000000000)	time input stream was recorded (used for calculating local magnetic field)

Example

sdgps sylphase-usbgpsimu2 ! trim-stream 0 120 ! tracker ! decoder ! simple-pvt-solver ! write-solution-file foo.sol

Then open the foo.sol file to find the position.

Then run:

sdgps sylphase-usbgpsimu2 ! tracker ! decoder ! synthesize-sensor-measurements --position-ecef '[740883, -5497747, 3136908]' --gnss-time 1298764800 ! kf2