<?xml version="1.0" encoding="UTF-8"?>

<!--
<DataDescribe>
	<采集时间>：2020年11月07日，共2个时段。时段1为GPST 01:10~04:05，时段2为GPST 05:55~09:35（为与camera lidar数据保持一致，当天采集的两个时段分开入库，此为第一段，编号01）
	<采集地点>：武汉大学
	<采集人员>：朱锋，卓德胜，杜汉洪
	<制作人员>：徐庆旭
	<数据描述>：动态车载实验，基线长在XXX~XXX范围
				基准站有1个：
					基准站1架设于教学实验大楼15楼楼顶，采用Trimble Alloy接收机和TRM57971.00天线
				流动站有5个：
					流动站1搭载在动态跑车上，采用NovAtel PP7 + NovAtel SPAN(FSAS)接收机和NovAtel GPS-704-WB天线
					流动站2搭载在动态跑车上，采用星网宇达XW-GI7660接收机和NovAtel GPS-704-WB天线
					流动站3搭载在动态跑车上，采用NovAtel PP7接收机和NovAtel GPS-702-GG天线					
					流动站4搭载在动态跑车上，采用Septentrio PolaRx5接收机和NovAtel GPS-704-WB天线
					流动站5搭载在动态跑车上，采用Trimble Alloy接收机和NovAtel GPS-704-WB天线
					流动站1 2 4 5为同一天线使用功分器得到 
	<真值计算>：基准站1的真值采用IE8.7计算得到
					时段1采用基准站1和流动站1，IE8.7做紧组合得到流动站1的参考坐标(惯导中心)，并通过归算杆臂值得到流动站2的参考坐标（GNSS中心）
</DataDescribe>
-->

<DataSets>
    <General_Info>
		<Timespan_Number>01</Timespan_Number>
		<FileNumber_In_Timespan>
			<id>01</id>
			<Base_Number>01</Base_Number>
			<Rove_Number>10</Rove_Number>
		</FileNumber_In_Timespan>				
	</General_Info>
	<Data_In_Timespan>
		<id>01</id>
		<BASE>
			<id>01</id>
			<GNSS_OBSFile>BASE_20201107_01_NovAtelAlloyTRM57971_01.20O</GNSS_OBSFile>
			<GNSS_BaseXYZ>-2267805.1073 5009421.5176 3220947.0496</GNSS_BaseXYZ>
			<GNSS_SatSYS>SYSGPS,SYSGLO,SYSBD2,SYSBD3,SYSGAL,SYSQZS</GNSS_SatSYS>
		</BASE>	
		<ROVE>
			<id>01</id>			
			<IPS_DATA_TYPE>GNSS_SINS_HIGH</IPS_DATA_TYPE>
			<IPS_USER_TYPE>IPSUSER_CAR</IPS_USER_TYPE>
			<IPS_SCENE_TYPE>IPSSCENE_G_OpenSky,IPSSCENE_G_UrbanCanyon,IPSSCENE_G_Tree,IPSSCENE_G_Overpass,IPSSCENE_G_Tunnel</IPS_SCENE_TYPE>
			<GNSS_SatSYS>SYSGPS,SYSGLO,SYSBD2,SYSBD3,SYSGAL,SYSQZS</GNSS_SatSYS>
			<GNSS_OBSFile>ROVE_20201107_01_NovAtelPP7SPAN(FSAS)NovAtel704_01.20O</GNSS_OBSFile>
			<GNSS_ALLNavFile>brdm312z.20p</GNSS_ALLNavFile>
			<GNSS_GPSPreEphFile>WUM0MGXFIN_20203120000_01D_15M_ORB.SP3</GNSS_GPSPreEphFile>
			<GNSS_GPSPreClkFile>WUM0MGXFIN_20203120000_01D_30S_CLK.CLK</GNSS_GPSPreClkFile>
			<SINS_IMUFile>ROVE_20201107_01_NovAtelPP7SPAN(FSAS)NovAtel704_01.imr</SINS_IMUFile>
			<SINS_IMUType>NovAtel SPAN (FSAS)</SINS_IMUType>
			<SINS_LeverArmbGNSS>0.0162 -0.8378 0.23735</SINS_LeverArmbGNSS>
			<SINS_ArmType>2</SINS_ArmType>
			<SINS_RotAngleIMU>0.0 0.0 0.0</SINS_RotAngleIMU>
		</ROVE>
		<ROVE>
			<id>02</id>			
			<IPS_DATA_TYPE>GNSS_SINS_HIGH</IPS_DATA_TYPE>
			<IPS_USER_TYPE>IPSUSER_CAR</IPS_USER_TYPE>
			<IPS_SCENE_TYPE>IPSSCENE_G_OpenSky,IPSSCENE_G_UrbanCanyon,IPSSCENE_G_Tree,IPSSCENE_G_Overpass,IPSSCENE_G_Tunnel</IPS_SCENE_TYPE>
			<GNSS_SatSYS>SYSGPS,SYSGLO,SYSBD2,SYSBD3,SYSGAL,SYSQZS</GNSS_SatSYS>
			<GNSS_OBSFile>ROVE_20201107_01_XWGI7660NovAtel704_02.20O</GNSS_OBSFile>
			<GNSS_ALLNavFile>brdm312z.20p</GNSS_ALLNavFile>
			<GNSS_GPSPreEphFile>WUM0MGXFIN_20203120000_01D_15M_ORB.SP3</GNSS_GPSPreEphFile>
			<GNSS_GPSPreClkFile>WUM0MGXFIN_20203120000_01D_30S_CLK.CLK</GNSS_GPSPreClkFile>
			<SINS_IMUFile>ROVE_20201107_01_NovAtelPP7SPAN(FSAS)NovAtel704_01.imr</SINS_IMUFile>
			<SINS_IMUType>NovAtel SPAN (FSAS)</SINS_IMUType>
			<SINS_LeverArmbGNSS>0.0162 -0.8378 0.23735</SINS_LeverArmbGNSS>
			<SINS_ArmType>2</SINS_ArmType>
			<SINS_RotAngleIMU>0.0 0.0 0.0</SINS_RotAngleIMU>
		</ROVE>
		<ROVE>			
			<id>03</id>			
			<IPS_DATA_TYPE>GNSS_HIGH</IPS_DATA_TYPE>
			<IPS_USER_TYPE>IPSUSER_CAR</IPS_USER_TYPE>
			<IPS_SCENE_TYPE>IPSSCENE_G_OpenSky,IPSSCENE_G_UrbanCanyon,IPSSCENE_G_Tree,IPSSCENE_G_Overpass,IPSSCENE_G_Tunnel</IPS_SCENE_TYPE>
			<GNSS_OBSFile>ROVE_20201107_01_NovAtelPP7NovAtel702_03.20O</GNSS_OBSFile>
			<GNSS_SatSYS>SYSGPS,SYSGLO,SYSBD2,SYSBD3,SYSGAL,SYSQZS</GNSS_SatSYS>
			<GNSS_ALLNavFile>brdm312z.20p</GNSS_ALLNavFile>
			<GNSS_GPSPreEphFile>WUM0MGXFIN_20203120000_01D_15M_ORB.SP3</GNSS_GPSPreEphFile>
			<GNSS_GPSPreClkFile>WUM0MGXFIN_20203120000_01D_30S_CLK.CLK</GNSS_GPSPreClkFile>
			<SINS_IMUFile>ROVE_20201107_01_NovAtelPP7SPAN(FSAS)NovAtel704_01.imr</SINS_IMUFile>
			<SINS_IMUType>NovAtel SPAN (FSAS)</SINS_IMUType>
			<SINS_LeverArmbGNSS>0.0162 0.1532 0.23735</SINS_LeverArmbGNSS>
			<SINS_ArmType>2</SINS_ArmType>
			<SINS_RotAngleIMU>0.0 0.0 0.0</SINS_RotAngleIMU>
		</ROVE>
		<ROVE>
			<id>04</id>			
			<IPS_DATA_TYPE>GNSS_HIGH</IPS_DATA_TYPE>
			<IPS_USER_TYPE>IPSUSER_CAR</IPS_USER_TYPE>
			<IPS_SCENE_TYPE>IPSSCENE_G_OpenSky,IPSSCENE_G_UrbanCanyon,IPSSCENE_G_Tree,IPSSCENE_G_Overpass,IPSSCENE_G_Tunnel</IPS_SCENE_TYPE>
			<GNSS_SatSYS>SYSGPS,SYSGLO,SYSBD2,SYSBD3,SYSGAL,SYSQZS</GNSS_SatSYS>
			<GNSS_OBSFile>ROVE_20201107_01_SeptentrioPolaRx5NovAtel704_04.20O</GNSS_OBSFile>
			<GNSS_ALLNavFile>brdm312z.20p</GNSS_ALLNavFile>
			<GNSS_GPSPreEphFile>WUM0MGXFIN_20203120000_01D_15M_ORB.SP3</GNSS_GPSPreEphFile>
			<GNSS_GPSPreClkFile>WUM0MGXFIN_20203120000_01D_30S_CLK.CLK</GNSS_GPSPreClkFile>
			<SINS_IMUFile>ROVE_20201107_01_NovAtelPP7SPAN(FSAS)NovAtel704_01.imr</SINS_IMUFile>
			<SINS_IMUType>NovAtel SPAN (FSAS)</SINS_IMUType>
			<SINS_LeverArmbGNSS>0.0162 -0.8378 0.23735</SINS_LeverArmbGNSS>
			<SINS_ArmType>2</SINS_ArmType>
			<SINS_RotAngleIMU>0.0 0.0 0.0</SINS_RotAngleIMU>
		</ROVE>
		<ROVE>
			<id>05</id>			
			<IPS_DATA_TYPE>GNSS_HIGH</IPS_DATA_TYPE>
			<IPS_USER_TYPE>IPSUSER_CAR</IPS_USER_TYPE>
			<IPS_SCENE_TYPE>IPSSCENE_G_OpenSky,IPSSCENE_G_UrbanCanyon,IPSSCENE_G_Tree,IPSSCENE_G_Overpass,IPSSCENE_G_Tunnel</IPS_SCENE_TYPE>
			<GNSS_SatSYS>SYSGPS,SYSGLO,SYSBD2,SYSBD3,SYSGAL,SYSQZS</GNSS_SatSYS>
			<GNSS_OBSFile>ROVE_20201107_01_TrimbleAlloyNovAtel704_05.20O</GNSS_OBSFile>
			<GNSS_ALLNavFile>brdm312z.20p</GNSS_ALLNavFile>
			<GNSS_GPSPreEphFile>WUM0MGXFIN_20203120000_01D_15M_ORB.SP3</GNSS_GPSPreEphFile>
			<GNSS_GPSPreClkFile>WUM0MGXFIN_20203120000_01D_30S_CLK.CLK</GNSS_GPSPreClkFile>
			<SINS_IMUFile>ROVE_20201107_01_NovAtelPP7SPAN(FSAS)NovAtel704_01.imr</SINS_IMUFile>
			<SINS_IMUType>NovAtel SPAN (FSAS)</SINS_IMUType>
			<SINS_LeverArmbGNSS>0.0162 -0.8378 0.23735</SINS_LeverArmbGNSS>
			<SINS_ArmType>2</SINS_ArmType>
			<SINS_RotAngleIMU>0.0 0.0 0.0</SINS_RotAngleIMU>
		</ROVE>			
		<ROVE>
			<id>06</id>			
			<IPS_DATA_TYPE>GNSS_SINS_HIGH</IPS_DATA_TYPE>
			<IPS_USER_TYPE>IPSUSER_CAR</IPS_USER_TYPE>
			<IPS_SCENE_TYPE>IPSSCENE_G_OpenSky,IPSSCENE_G_UrbanCanyon,IPSSCENE_G_Tree,IPSSCENE_G_Overpass,IPSSCENE_G_Tunnel</IPS_SCENE_TYPE>
			<GNSS_SatSYS>SYSGPS,SYSGLO,SYSBD2,SYSBD3,SYSGAL,SYSQZS</GNSS_SatSYS>
			<GNSS_OBSFile>ROVE_20201107_01_NovAtelPP7SPAN(FSAS)NovAtel704_01.20O</GNSS_OBSFile>
			<GNSS_ALLNavFile>brdm312z.20p</GNSS_ALLNavFile>
			<GNSS_GPSPreEphFile>WUM0MGXFIN_20203120000_01D_15M_ORB.SP3</GNSS_GPSPreEphFile>
			<GNSS_GPSPreClkFile>WUM0MGXFIN_20203120000_01D_30S_CLK.CLK</GNSS_GPSPreClkFile>
			<SINS_IMUFile>ROVE_20201107_01_XWGI7660NovAtel704_02.imr</SINS_IMUFile>
			<SINS_IMUType>XW-GI7660</SINS_IMUType>
			<SINS_LeverArmbGNSS>-0.0035 -0.1745 0.1940</SINS_LeverArmbGNSS>
			<SINS_ArmType>2</SINS_ArmType>
			<SINS_RotAngleIMU>0.0 0.0 0.0</SINS_RotAngleIMU>
		</ROVE>
		<ROVE>
			<id>07</id>			
			<IPS_DATA_TYPE>GNSS_SINS_HIGH</IPS_DATA_TYPE>
			<IPS_USER_TYPE>IPSUSER_CAR</IPS_USER_TYPE>
			<IPS_SCENE_TYPE>IPSSCENE_G_OpenSky,IPSSCENE_G_UrbanCanyon,IPSSCENE_G_Tree,IPSSCENE_G_Overpass,IPSSCENE_G_Tunnel</IPS_SCENE_TYPE>
			<GNSS_SatSYS>SYSGPS,SYSGLO,SYSBD2,SYSBD3,SYSGAL,SYSQZS</GNSS_SatSYS>
			<GNSS_OBSFile>ROVE_20201107_01_XWGI7660NovAtel704_02.20O</GNSS_OBSFile>
			<GNSS_ALLNavFile>brdm312z.20p</GNSS_ALLNavFile>
			<GNSS_GPSPreEphFile>WUM0MGXFIN_20203120000_01D_15M_ORB.SP3</GNSS_GPSPreEphFile>
			<GNSS_GPSPreClkFile>WUM0MGXFIN_20203120000_01D_30S_CLK.CLK</GNSS_GPSPreClkFile>
			<SINS_IMUFile>ROVE_20201107_01_XWGI7660NovAtel704_02.imr</SINS_IMUFile>
			<SINS_IMUType>XW-GI7660</SINS_IMUType>
			<SINS_LeverArmbGNSS>-0.0035 -0.1745 0.1940</SINS_LeverArmbGNSS>
			<SINS_ArmType>2</SINS_ArmType>
			<SINS_RotAngleIMU>0.0 0.0 0.0</SINS_RotAngleIMU>
		</ROVE>
		<ROVE>			
			<id>08</id>			
			<IPS_DATA_TYPE>GNSS_HIGH</IPS_DATA_TYPE>
			<IPS_USER_TYPE>IPSUSER_CAR</IPS_USER_TYPE>
			<IPS_SCENE_TYPE>IPSSCENE_G_OpenSky,IPSSCENE_G_UrbanCanyon,IPSSCENE_G_Tree,IPSSCENE_G_Overpass,IPSSCENE_G_Tunnel</IPS_SCENE_TYPE>
			<GNSS_OBSFile>ROVE_20201107_01_NovAtelPP7NovAtel702_03.20O</GNSS_OBSFile>
			<GNSS_SatSYS>SYSGPS,SYSGLO,SYSBD2,SYSBD3,SYSGAL,SYSQZS</GNSS_SatSYS>
			<GNSS_ALLNavFile>brdm312z.20p</GNSS_ALLNavFile>
			<GNSS_GPSPreEphFile>WUM0MGXFIN_20203120000_01D_15M_ORB.SP3</GNSS_GPSPreEphFile>
			<GNSS_GPSPreClkFile>WUM0MGXFIN_20203120000_01D_30S_CLK.CLK</GNSS_GPSPreClkFile>
			<SINS_IMUFile>ROVE_20201107_01_XWGI7660NovAtel704_02.imr</SINS_IMUFile>
			<SINS_IMUType>XW-GI7660</SINS_IMUType>
			<SINS_LeverArmbGNSS>-0.0035 0.8165 0.1940</SINS_LeverArmbGNSS>
			<SINS_ArmType>2</SINS_ArmType>
			<SINS_RotAngleIMU>0.0 0.0 0.0</SINS_RotAngleIMU>
		</ROVE>
		<ROVE>
			<id>09</id>			
			<IPS_DATA_TYPE>GNSS_HIGH</IPS_DATA_TYPE>
			<IPS_USER_TYPE>IPSUSER_CAR</IPS_USER_TYPE>
			<IPS_SCENE_TYPE>IPSSCENE_G_OpenSky,IPSSCENE_G_UrbanCanyon,IPSSCENE_G_Tree,IPSSCENE_G_Overpass,IPSSCENE_G_Tunnel</IPS_SCENE_TYPE>
			<GNSS_SatSYS>SYSGPS,SYSGLO,SYSBD2,SYSBD3,SYSGAL,SYSQZS</GNSS_SatSYS>
			<GNSS_OBSFile>ROVE_20201107_01_SeptentrioPolaRx5NovAtel704_04.20O</GNSS_OBSFile>
			<GNSS_ALLNavFile>brdm312z.20p</GNSS_ALLNavFile>
			<GNSS_GPSPreEphFile>WUM0MGXFIN_20203120000_01D_15M_ORB.SP3</GNSS_GPSPreEphFile>
			<GNSS_GPSPreClkFile>WUM0MGXFIN_20203120000_01D_30S_CLK.CLK</GNSS_GPSPreClkFile>
			<SINS_IMUFile>ROVE_20201107_01_XWGI7660NovAtel704_02.imr</SINS_IMUFile>
			<SINS_IMUType>XW-GI7660</SINS_IMUType>
			<SINS_LeverArmbGNSS>-0.0035 -0.1745 0.1940</SINS_LeverArmbGNSS>
			<SINS_ArmType>2</SINS_ArmType>
			<SINS_RotAngleIMU>0.0 0.0 0.0</SINS_RotAngleIMU>
		</ROVE>
		<ROVE>
			<id>10</id>			
			<IPS_DATA_TYPE>GNSS_HIGH</IPS_DATA_TYPE>
			<IPS_USER_TYPE>IPSUSER_CAR</IPS_USER_TYPE>
			<IPS_SCENE_TYPE>IPSSCENE_G_OpenSky,IPSSCENE_G_UrbanCanyon,IPSSCENE_G_Tree,IPSSCENE_G_Overpass,IPSSCENE_G_Tunnel</IPS_SCENE_TYPE>
			<GNSS_SatSYS>SYSGPS,SYSGLO,SYSBD2,SYSBD3,SYSGAL,SYSQZS</GNSS_SatSYS>
			<GNSS_OBSFile>ROVE_20201107_01_TrimbleAlloyNovAtel704_05.20O</GNSS_OBSFile>
			<GNSS_ALLNavFile>brdm312z.20p</GNSS_ALLNavFile>
			<GNSS_GPSPreEphFile>WUM0MGXFIN_20203120000_01D_15M_ORB.SP3</GNSS_GPSPreEphFile>
			<GNSS_GPSPreClkFile>WUM0MGXFIN_20203120000_01D_30S_CLK.CLK</GNSS_GPSPreClkFile>
			<SINS_IMUFile>ROVE_20201107_01_XWGI7660NovAtel704_02.imr</SINS_IMUFile>
			<SINS_IMUType>XW-GI7660</SINS_IMUType>
			<SINS_LeverArmbGNSS>-0.0035 -0.1745 0.1940</SINS_LeverArmbGNSS>
			<SINS_ArmType>2</SINS_ArmType>
			<SINS_RotAngleIMU>0.0 0.0 0.0</SINS_RotAngleIMU>
		</ROVE>			
	</Data_In_Timespan>
</DataSets>
