1、AirSim中默认的传感器

        AirSim中settings.jason对于一些传感器是默认开启的，并未在settings中进行显示；

  1.1 无人机默认开启的传感器包括：

1. IMU 惯性测量单元
2. Magnetometer 磁力计
3. Gps 定位
4. Barometer 气压计

  1.2 车辆默认开启的传感器包括:

1. Barometer 气压计

  1.3 无人机/车辆默认的传感器配置：

"DefaultSensors": {
    "Barometer": {
        "SensorType": 1,
        "Enabled" : true,
        "PressureFactorSigma": 0.001825,
        "PressureFactorTau": 3600,
        "UncorrelatedNoiseSigma": 2.7,
        "UpdateLatency": 0,
        "UpdateFrequency": 50,
        "StartupDelay": 0

    },
    "Imu": {
        "SensorType": 2,
        "Enabled" : true,
        "AngularRandomWalk": 0.3,
        "GyroBiasStabilityTau": 500,
        "GyroBiasStability": 4.6,
        "VelocityRandomWalk": 0.24,
        "AccelBiasStabilityTau": 800,
        "AccelBiasStability": 36
    },
    "Gps": {
        "SensorType": 3,
        "Enabled" : true,
        "EphTimeConstant": 0.9,
        "EpvTimeConstant": 0.9,
        "EphInitial": 25,
        "EpvInitial": 25,
        "EphFinal": 0.1,
        "EpvFinal": 0.1,
        "EphMin3d": 3,
        "EphMin2d": 4,
        "UpdateLatency": 0.2,
        "UpdateFrequency": 50,
        "StartupDelay": 1
    },
    "Magnetometer": {
        "SensorType": 4,
        "Enabled" : true,
        "NoiseSigma": 0.005,
        "ScaleFactor": 1,
        "NoiseBias": 0,
        "UpdateLatency": 0,
        "UpdateFrequency": 50,
        "StartupDelay": 0
    },
    "Distance": {
        "SensorType": 5,
        "Enabled" : true,
        "MinDistance": 0.2,
        "MaxDistance": 40,
        "X": 0, "Y": 0, "Z": -1,
        "Yaw": 0, "Pitch": 0, "Roll": 0,
        "DrawDebugPoints": false
    },
    "Lidar2": {
        "SensorType": 6,
        "Enabled" : true,
        "NumberOfChannels": 16,
        "RotationsPerSecond": 10,
        "PointsPerSecond": 100000,
        "X": 0, "Y": 0, "Z": -1,
        "Roll": 0, "Pitch": 0, "Yaw" : 0,
        "VerticalFOVUpper": -15,
        "VerticalFOVLower": -25,
        "HorizontalFOVStart": -20,
        "HorizontalFOVEnd": 20,
        "DrawDebugPoints": true,
        "DataFrame": "SensorLocalFrame"
    }
},

车辆可以覆盖上面列出的默认传感器的子集。 默认情况下，激光雷达和距离传感器不会被添加到车辆上，所以你需要这样添加。 每个传感器必须有一个有效的“SensorType”，并且可以定义一个属性子集来覆盖上面显示的默认值，您可以将Enabled设置为false来禁用特定类型的传感器。