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A NovAtel Precise Positioning Product

1. If GNSS data conversion included pre processing checks a profile is automatically selected Filter Profiles Enabling this feature ensures that only the profiles specific to your IMU model are shown in the list This option scans the IMR header to determine the name of the IMU and is largely aimed at NovAtel SPAN customers Advanced LC Processing This provides access to advanced settings related to INS data processing and lets you choose the options best suited to your application Advanced GNSS TC Processing This provides access to advanced settings related to GNSS processing Refer to the GrafNav GrafNet Version 8 30 Manual for information Advanced IMU TC Processing This provides access to advanced settings related to INS data processing and lets you choose the options best suited to your application Lever Arm Offset IMU gt GNSS Antenna To perform GNSS updates accurately enter the 3 D offset in metres from IMU sensor array s navigation centre to the GNSS antenna This offset vector must be entered with respect to the body frame of the vehicle as the image in the shaded box shows You must also specify whether the Z value applies to the antenna s reference point ARP or L1 phase centre To specify ARP you must select an antenna model whe you add the remote GPB file to the project In this case the antenna model s offset value is applied to the Z value to raise the Z value to the L1
2. Accelerometer Bias Accuracy Body Frame This plot shows the components of velocity in the vehicle Velocity body frame This plot presents the DMI scale factor as computed by the DMI Scale Kalman filter It should be loaded separately for forward and Factor reverse processing to ensure that the same scale factor is computed in both directions Ideally the plotted line should be horizontal indicating a constant scale factor This plot presents the difference between the computed DMI Residual displacement or velocity and that reported by the DMI Estimated This shows the estimated standard deviation of the accelerometer bias It is plotted in terms of the X right direction Y forward direction and Z up direction of the INS body Estimated Attitude Accuracy This plot shows the standard deviation computed in the GNSS INS Kalman filter in terms of roll pitch and heading Estimated Gyro Drift Accuracy This plot shows the estimated standard deviation of the gyro drift rate which generally decreases with time It is plotted in terms of the X right direction Y forward direction and Z up direction of the INS body Gyro Drift Rate This is the apparent change in angular rate over a period of time as computed by the GNSS INS Kalman filter The effects are usually random It is plotted in terms of the X right direction Y forward direction and Z up direction of the INS body Generally they shoul
3. Zero Velocity Updates ZUPTS Inertial Explorer takes advantage of periods when the IMU is static Such periods of time are referred to as zero velocity updates ZUPT Upon reaching the start of a ZUPT Inertial Explorer assumes the data to be static and replaces the GNSS velocity update values with zeros Inertial Explorer automatically detects the presence of ZUPTs by analyzing the GNSS IMU and if available DMI data This is true for both loosely and tightly coupled processing s such the manual entry of ZUPTs is generally not necessary except in cases of poor data quality Consult the TMU Status Flag plot after processing to determine the periods where a ZUPT was detected If a known ZUPT was missed manually enter it here IMU Processing Settings 2 x System States Updates Mount User Cmds r Variance Factors for Residual Testing Zupt 29 Range fo GNSS Pas 1 0 Phase joo r GNSS Updates IV Update Interval from GPS Data Enter GPS Update Interval 5 r Zero Velocity Coordinate Updates Add IV GNSS Velocity Update DMI foo r Distance Measuring Instrument DMI Updates I Enable DMI from file Browse Info r Heading Updates m Heading Updates from File Std Dey Heading FF 000 Boresight Botz FF 000 DMI Options GNSS Updates Options Update Interval from GPS data This option forces the processor to use every computed ep
4. Data is angular rate Accelerometer Measurements Inverse Accelerometer Scale Factor fi 000000 00000000 1 Accel Scale Ze Data is delta velocity C Data is acceleration r Timing Settings Data Rate 100 0 Hz GPS IMU time tag bias offset fo 0000 s Byte Order Intel C Motorola GPS seconds of week C UTC seconds of week r Time Tag Format Time Tag Source C GPS Received Time GPS Corrected Time Cancel 2 1 2 Creating Modifying a Conversion Profile New Creates a customized profile to convert unique format into Waypoint s generic IMR format This is used for custom scale factors data rates and orientations in raw data files Modify Allows changes to be made to an existing profile Delete Deletes an existing profile Rename Renames an existing profile Sensor Timing Settings Gyro Measurements Pertains to the measurements made by the gyroscopes The inverse value of the scale factor is required For example a scale factor of 0 0004 which can be represented fractionally by 1 2500 should be entered as 2500 The gyro measurements can take the form of delta theta where angular increments are being observed or angular rate Accelerometers Measurements Considerations similar to those made for the scale factor of the gyro measurements should be made here That is to say the inverse of the scale factor is required Much lik
5. Manual for a description of all the features available in File name Tester inertial SampleIMUdata l I Process INS Data Only hi this menu Both Forward Reverse PE gt lt In Inertial Explorer view IMU message log and Profile SPAN Ground CPT advanced trajectory files under View Forward Solution and JE Fiter Profiles View Reverse Solution See Section 3 2 on Page Lever Arm Offset IMU gt GNSS Antenna Zto ARP CG Dm X 0 141 Yi 1 227 z 0 592 Ga EG NG gt Favorites T Read from IMR file CS Sensor gt Body Rotation Rotate IMU into Vehicle Frame xRot 0 00000 yRot 0 00000 zRot 0 00000 Only needed if IMU data not decoded as Y Fwd X Right Z Up Order Z X Y m Processing Ini SSES iption Run 3 User unknown Process Tightly Coupled x Processing Method Differential GNSS Precise Point Positioning PPP Processing Direction Both C Forward C Reverse Multi pass Processing Settings Profile SPAN Ground AG58 DI Advanced GNSS IV Filter Profiles Datum Jess v Advanced IMU Lever Arm Offset IMU gt GNSS Antenna D SENSOR Zto ARP X ER Y 1422 Z 11 031 Favorites gt Z to Phase Centre IT Read from IMR file Sensor gt Body Rotation Rotate IMU into Vehicle Frame xRot 0 00000 yRot 0 00000 zRot 0 00000 Only needed if IMU data not decoded as Y Fwd X Right Z Up
6. r Initial Static Alignment Period Initial Position and Velocity e Determine from GNSS suggested 160 00 ERE H Use entered values IMU only Fine 0 00 s using trajectory Total 60 00 s OK Cancel IMU Time Range Options Process All IMU Data Ifthis option is enabled the software obtains the beginning and end times from the raw binary IMU file These times are in GPS seconds of the week for typical GPS time tagged applications Use GNSS start end times When selected IMU processing will start and end based on a time range set under the General tab of the GNSS processing options menu Begin Time For forward processing this time should correspond to a time in the trajectory files created during GNSS processing If it is then Inertial Explorer uses the GNSS derived position at that time to seed the inertial processing lt The time used here is mission dependent and should be chosen with care because a poor alignment results in poor attitude and coordinate information End Time Same considerations as above This time determines the point at which forward processing stops and when reverse processing begins Initial Static Alignment Period The length of time assigned to static alignment depends on the method of alignment being used In all cases it is important that the values entered are in accordance with the Begin and End times specified under the General tab of the GNSS proce
7. NovAtel shall be under no obligation or liability of any kind in contract tort or otherwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss damage actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccuracy error or other defect therein and whether or not involving negligence on the part of any person 8 Disclaimer and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFTTS EVEN IF NOVATEL HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including liability for negligence for the Software covered by this Agreement and a
8. Right Side Y Front Positive Pitch Rate Positive Roll Rate Z Up Positive Yaw Rate r Define the IMU manufacturers sensor system Select orientation of X AXIS in the sensor frame New Sensor Definiton Select K lt Clear Y e Update z Available Orientations Inertial Explorer will rotate this system into a Y forward roll rate X right side pitch rate Z up paw rate definition How to define the orientation of the IMU 1 Specify the X direction by selecting the direction that corresponds to the X axis of the sensor frame 2 Click Select to set that direction to the X axis 3 Specify the Y direction next by selecting the direction that corresponds to the Y axis of the sensor frame 4 Click Select to set that direction to the Y axis B Given the constraint that the frame is right handed this direction will be automatically determined by the software 5 Click Update to apply the new sensor orientation to the profile lt Ifa mistake is made at any point during the process click Clear to start over 6 Click OK to save the new profile lt It should immediately appear in the scroll down list under the IMU Profiles box of the main window Inertial Explorer 8 40 User Guide Rev 8 37 Chapter 2 Conversion Utilities 38 Inertial Explorer 8 40 User Guide Rev 8 Chapter 3 3 1 Data Formats In theory virtually any IMU sens
9. well as the gyroscope and acceleration measurements of all three axes for the first thousand epochs Use this to detect any errors that may occur during the conversion such as the use of an incorrect scale factor Path Displays the path to the directory containing the input file All output files created by this utility are saved to the directory IMU Profiles Displays a scroll down list of profiles available for use during conversion Each profile contains a set of conversion parameters designed to decode measurement data files produced by the indicated sensor Choose one profile from the list or if necessary create one See Section 2 1 1 on Page 35 for help Once all the appropriate fields have been entered click the Convert button to start converting IMU data into IMR format A message window appears to show the status of the conversion process 35 d waypoint IMU Data Conversion xl Input Output Files Input Binary IMU File Ea Browse Output Waypoint Binary File Output Waypoint ASCII File For viewing the data first 1000 epochs I Output ASCII Path IMU Profiles El Rename New Copy Delete About Convert im Modify e Inertial Explorer 8 40 User Guide Rev 8 Chapter 2 Conversion Utilities Sensor Timing Settings Sensor Orientation Decoder Settings r Gyro Measurements Inverse Gyro Scale Factor 1 Gyro Scale Ze Data is delta theta
10. FF 000 Boresight RotZ FF 000 Coordinate Updates IMU Only Without the presence of GNSS data the positions being computed from the inertial data are likely to drift drastically over time This option bounds these errors by allowing the processor to correct its trajectory at any given time where the position is known This requires that the IMU have traveled over a previously surveyed point and that you know the exact time at which this occurred Since it is unlikely that the IMU was physically placed upon this point the lever arm offset should also be entered Distance Measuring Instrument DMI To integrate the data from distance measurement instruments DMI engage the Enable DMI from file to access the options Enable DMI from file Use the Browse button to locate the DMR file containing the measurements from the DMI Once a valid file has been selected the software scans it to detect how many sensors were used Use Info to view information concerning the selected file DMI Options The following settings pertain to the added DMR file DX A typical DMI will either output a tick count or a velocity vector If tick counts are recorded Inertial Explorer converts them into velocity vectors If velocity vectors have been recorded then the software uses them as such Detect ZUPTs from DMI sensor A DMI can often be used to determine periods of zero velocity which can help improve accuracies The per
11. If it is not entered then the final height coordinates includes the antenna height and this causes a vertical shift If only the ellipsoidal or orthometric height of the antenna is of interest then enter zero 12 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 1 3 4 Add IMU File E A How to start a new project using Auto When starting a new project the program needs the Start con t data collected from the IMU The IMU file must be in the IMR format before being added 1 3 5 Load LC Solution Loosely Coupled Loads the solution processed with GNSS and inertial data TC Solution Tightly Coupled Loads the solution processed with GPS carrier phase Camera Mount Data Loads auto stabilized camera mount information 1 3 6 Convert Raw GNSS to GPB If data is logged without using Waypoint s logging software it will have to be converted to GPB format for processing Refer to Chapter 8 of the GrafNav GrafNet Version 8 30 Manual Raw IMU Data to Waypoint Generic IMR IMU data must be converted to IMR format in order to be processed by Inertial Explorer Use this utility to perform this conversion See Section 1 2 on Page 9 for help GPB to RINEX This produces a RINEX file from GPB files and supports the creation of Version 2 0 and 2 1 of the RINEX format For additional information refer to Chapter 8 of the GrafNav GrafNet Version 8 30 Manual 1 3 7 Remo
12. Internet connection required to download the files listed in the shaded box Most of these manufact files have an associated user file where personal information is saved These files are not modified when you download the latest manufacturer files It is important for this reason to not modify the manufact files as they are overwritten when this option is used Inertial Explorer 8 40 User Guide Rev 8 33 Chapter 1 Inertial Explorer 34 Inertial Explorer 8 40 User Guide Rev 8 Chapter 2 Conversion Utilities 2 1 Raw IMU Data Converter The IMU Data Converter utility is a Win32 application program that converts custom data formats into a generic raw IMU data format which is described in Section 3 2 1 on Page 40 of this manual This utility is available exclusively to users of Inertial Explorer and may be accessed via File Convert Raw IMU Data to Waypoint Generic IMR 2 1 1 Waypoint IMU Data Conversion Input Output Files Refers to the names and locations of all input and output files Input Binary IMU File Click the Browse button to locate the raw IMU data file Output Waypoint Binary File By default the binary output file created are given the same filename as the input file but with an IMR extension It will be saved to the directory containing the input file Output Waypoint ASCII File If the Output ASCII option is enabled the utility generates an ASCII file containing the GPS time as
13. Order Z X Y Processing Information User MB Description TC 18 PS SS 40 for information on file formats 1 5 Process Menu Refer to the GrafNav GrafNet Version 8 30 Manual for information regarding all of the features available via this menu Only those features that are exclusive to Inertial Explorer are discussed here 1 5 1 Process LC loosely coupled and TC tightly coupled This window provides access to most settings related to IMU processing Source File for GNSS Updates LC Processing Update Data Use this option to select the GNSS file from which Inertial Explorer obtains updates In most cases the combined solution is suggested or specify an alternate file by selecting External trajectory from the drop down menu and clicking the Browse External button File Name Displays the selected file Process INS Data Only This option enables disables the use of GNSS data during INS processing Updates will only be performed with user entered coordinate updates gt lt This mode of processing is not recommended because it is only used for special applications 14 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 Process Settings Profile Select an appropriate profile from the drop down menu prior to processing This ensures that the GNSS and IMU settings are configured in an optimal way Use the Advanced button adjustments to the settings
14. chosen error model IMU Processing Settings System States Updates Mount User Cmds 21x1 Error Model Select error model Add From m Solve IMU gt GNSS Lever Arm I Solve lever arm values as additional kalman filter states x bm Y 5000 z 5 000 m Initial Std Accel and Gyro Extra States Initial Std Dev Initial Std Dev IV Accel Scale fi 0 ppm IV Accel Orthog 25 arcsec IV Duo Scale 10 ppm IV Gyro Orthog 25 arcsec m Apply Heave Correction to Height I Apply Heave br 0 Cancel Edit Error Model Values x Source Manufacturer r Initial Standard Deviation Values Axis Aus Z Axis Misalignment 1 11111e 001 1 11111e 001 1 11111e 001 deg 3 00000e 002 3 00000e 002 3 00000e 002 metres s 2 2 77778e 002 2 77778e 002 2 77778e 002 deg s r Spectral Densities Values square root of Axis Y Z Axis Axis Misalignment 8784106004 fe 7e410e 004 8784106004 deg s fees pezen 316228e 006 wer 78410600 Route B78410010 degis Face Face FS we et Litton IN 200 Accel Bias Gyro Drift Accel Bias Gyro Drift Velocity Position How to create a custom profile Click the Add From button which allows for the creation of a new model based on a default model or click the Edit button which accesses the default models Generally the former method is recommended because it allows the default model
15. for a description and diagram of the navigation values Show This drop down menu is linked to the window below it and gives viewing access to the values listed in the shaded box Settings The following features are available Calibration name Enter a name to distinguish calibration runs from one another Inertial Explorer keeps a history of calibration runs so a unique identifier is helpful when trying to recover previous results This is useful for using multiple systems and or tracking stability over time Boresight Angles Upon successful completion of the calibration procedure the final values for the computed boresight angles are displayed here Add results to list When this option is enabled the last values computed by the program are stored so that they are easily accessible by the Export Wizard View report after computation Enabling this option forces the software to launch the boresighting report upon successful completion of a calibration The contents of the report are discussed later on Update navigation angles on entry When this option is enabled Inertial Explorer loads the latest navigation values for the camera events into the boresighting module Inertial Explorer 8 40 User Guide Rev 8 27 Chapter 1 Inertial Explorer Message Window This window provides valuable insight on the status of the current calibration Whenever input data is being loaded read the messages to ensure the ex
16. in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then and in any event NovAtel may forthwith by notice in writing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Termination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6 Warranty NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification
17. novatel com products waypoint grafnav htm and the corresponding version of Waypoint s Inertial Explorer software Prerequisites To run Waypoint software packages your personal computer must meet or exceed this minimum configuration Operating System Windows XP Vista or 7 Hard Drive Space 75 MB of available space on the hard disk Processor A Pentium or Xeon processor is required Simultaneous forward reverse processing is possible on dual CPU and Xeon systems At least 256 MB of RAM is also required Although previous experience with Windows is not necessary to use Waypoint software packages familiarity with certain actions that are customary in Windows will assist in the usage of the program This manual has been written with the expectation that you already have a basic familiarity with Windows Conventions and Customer Service This manual covers the full performance capabilities of Inertial Explorer 8 30 data post processing software Simple conventions in this manual include the following lt This is a notebox that contains important information before you use a command or log or to give additional information afterwards This manual contains shaded boxes on the outside ofthe pages These boxes contain procedures screen shots tables and guick references Inertial Explorer 8 40 User Guide Rev 8 1 If the software was purchased through a vendor please contact them for support Otherwise for software updat
18. perform kinematic alignment instead For static alignment this plot helps to determine how much time is available for the processor to use The amount of time for the alignment can be set under the Method for Initial Alignment options accessed through Advanced System The correct time length must be assigned because any movement during the static alignment results in an error Fine static alignment is only practical for high accuracy IMUs and generally requires at least 10 minutes Kinematic alignment requires 4 8 seconds Automated alignment forces the software to scan the data and determine the best alignment method Only set alignment options manually if the automated method returns poor results 10 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 Process IMU Data The steps for processing IMU data are in the shaded box on Page 10 Plotting and Quality Control Once processing is complete view the quality of the results by analyzing the IMU plots Under the Output menu choose Results to access the following IMU plots Attitude Roll and Pitch This plot shows the roll and pitch profile of the processed IMU data Attitude Azimuth Heading This plot shows the heading azimuth of the IMU and the GNSS course over ground They should be in reasonable agreement If the red line and green line are 180 different then the IMU has been mounted backwards a
19. phase centre Save lever arms for future access with the Favorites button Read from IMR file If lever arm values are written to the header of the IMR file then use this option to extract them Figure 1 Body Frame Definition for Lever Arm Offset The IMU is the local origin of the system and the measurements are defined as the following X The measured lateral distance in the vehicle body frame from the IMU to the GNSS antenna Y The measured distance along the longitudinal axis of the vehicle from the IMU to the GNSS antenna Z The measured height change from the IMU to the GNSS antenna DI All measurements are from the navigation center of the IMU to the GNSS antenna phase center Inertial Explorer 8 40 User Guide Rev 8 15 Chapter 1 Inertial Explorer Sensor gt Body Rotations Rotate IMU into Vehicle Frame Many typical IMU installations have the surface of the IMU directly attached to the floor of the vehicle so the sensor frame of the IMU and the body frame of the vehicle are more or less aligned In these installations the roll pitch and yaw of the vehicle are directly sensed by the IMU Some IMUs are installed in a tilted position with respect to the body frame of the vehicle If the tilt between the IMU frame and body frame is known Inertial Explorer compensates so that the attitude information produced is with respect to vehicle body frame not the IMU sensor fr
20. 3 50 Hz for LN200 100 Hz for HG1700 IO How 1 high 2 Jextreme ERROR MODEL IMU Name Error model name from manufact imu or user imu Scale GPS Kalman co variances for positions and velocities by this amount ON OFF Use GPS heading updates constant offset deg standard deviation of offset angle deg Lever arm in meters measured in body frame GPS INS UPDATE TOL FLOAT FIXED sdev Q D rms GPS POSITION UPDATES ON OFF GPS TRAJECTORY SOURCE source GPS VELOCITY UPDATES ON OFF Inertial Explorer 8 40 User Guide Rev 8 Only use GPS updates if standard deviation quality factor and Doppler RMS are below tolerances Enable disable GPS position updates Set GPS solution file 0 CMB 1 FWD 2 REV 3 extemnal file Enable disable GPS velocity updates 49 Appendix A Appendix A GPS UPDT INT n GPS updates every n seconds FIXED FLOAT ambiguities def FLOAT std dev GPS _ coord def i 2m Q factor 1 6 def 6 DopplerRms m s GRAFNAV_FILE filename filename2 Name of trajectory source file for GPS updates forward and reverse GYRO BIASES x yz X Y Z gyro drifts in deg sec GYRO NOISE sd1 sd2 sd3 Spectral density of the gyro drift states in arcsec sec GYRO SD xsdev ysdev zsdev A priori Kalman standar deviations for X Y Z gyro drift states in arcsec sec INITIAL ATTITUDE KNOWN att ATTITUDE KNOWN HEADING KNOWN ATTITUDE UNKNOWN Refers to validity of the initial roll pitch
21. 4 format and description 44 l IMR File converting to 35 format and description 40 IMU Process loosely coupled setting 14 IMU file adding to Inertial Explorer 13 In Motion Kinematic Alignment description 18 Installation 9 L lever arm solve values 23 lever arm offset IMU to alternate sensor 3 I IMU to GNSS 15 read values 15 Loosely coupled Processing 14 M manufacturer files downloading latest files 33 Message Logs format and description 45 Mount tab 26 53 Index 54 N NovAtel SPAN Data 39 p plots IMU data 30 list of Inertial Explorer plots 30 Plotting 11 Attitude 11 Processing IMU options 14 Processing Profiles GNSS IMU 19 processing window 32 Project Wizard 12 steps 12 Q quick start 9 R Remote File Adding 12 RIL File see Message Logs 45 RIM File see Trajectory File 46 rotation sensor frame to body frame 16 RTL File see Message Logs 45 RTM File see Trajectory File 46 RTS Smoother options 26 S Smoother see RTS Smoother 26 System tab 14 T Tightly coupled Processing 26 time range processing range in Inertial Explorer 19 Trajectory File format and description 46 Transfer alignment Description 19 U updates coordinate 24 GPS source file 14 GPS velocity 24 zero velocity 24 User Defined Options adding commands 26 list of commands 49 V Variance factors 23 Z ZUPTs description 24 Inertial Explorer 8 40 User Guide Rev 8
22. ABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Inertial Explorer 8 40 User Guide Rev 8 5 Inertial Explorer 8 40 User Guide Rev 8 Terms and Conditions 1 PRICES All prices are Firm Fixed Price EX WORKS 1120 68th Avenue N E Calgary Alberta All prices include standard commercial packing for domestic shipment All transportation insurance special packing costs and expenses and all Federal provincial and local excise duties sales and other similar taxes are the responsibility of the Purchaser 2 PAYMENT Terms are prepayment unless otherwise agreed in writing Interest shall be charged on overdue accounts at the rate of 18 per annum 1 5 per month from due date To expedite payment by wire transfer to NovAtel Inc Bank HSBC Bank of Canada 407 8 Avenue S W US Account 788889 002 Calgary AB Canada T2P 1E5 Transit 10029 016 Swift HKBCCATTCAL DELIVERY Purchaser shall supply shipping instructions with each order Ship to and bill to address NovAtel Quotation Preferred carrier and account Custom broker freight forwarder including name and contact In the absence of specific instructions NovAtel may select a carrier and insure Products in transit and charge Purchaser accordingly NovAtel shall not be responsible for any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably control Title shall pass to Pur
23. For applications involving constant GNSS updates coarse alignment is often enough to start kinematic IMU navigation Inertial Explorer 8 40 User Guide Rev 8 17 Chapter 1 Inertial Explorer Static coarse fine alignment Invoke if IMU is static for longer than 120 Align Options r Met seconds G Static coarse alignment only Static coarse fine align Many high precision IMU applications DE recommend approximately 2 minutes of coarse Transfer alignment enter known attitude Enter Attitude alignment followed by 8 to 10 minutes of fine r Initial Static Alignment Period Initial Position and Velocity i e Determine from GNSS suggested i 60 00 alignment Fosse EI Use entered values IMU echt Fine 0 00 s Within 5 to 10 minutes GNSS updates enable the IMU Tota 8000 ts to provide attitude information consistent with the accuracy level achievable by the accelerometer gyro OK triad with or without fine alignment This depends on the type of IMU and the application s requirements After roll pitch and yaw are roughly estimated for coarse alignment fine alignment refines them to a better level of precision Kinematic alignment When neither static data or a priori attitude information are available alignment can be done using vehicle motion This requires a short period of time where the vehicle is relatively level and moving in a relatively straight line
24. ONG values Con sSync Sync byte Set to Oxffee short sWeek GPS week number set to 1 if not known double dTime GPS time of week in seconds unsigned long IValue DMI NUM DIM values counts DMI NUM DIM should be equal to sDim i struct dmi drec type If logging using DOUBLE precision GH SSync Sync byte Set to Oxffee short sWeek GPS week number set to 1 if not known double dTime GPS time of week in seconds double dValue DMI_NUM_DIM values double precision DMI NUM DIM should be equal to sDim Inertial Explorer 8 40 User Guide Rev 8 43 Chapter 3 Data and File Formats 3 2 3 HMR File The 256 byte header contains information that is vital to processing and must be filled in The C C structure definition of the HMR header is as follows typedef struct char szTitleStr 12 unsigned char ucType double dBoreSightRotationZ I MUHEADING 10 NULL terminated ASCII string Set to 1 if external or 2 if dual antenna Heading boresight rotation about Z in degrees Set to zero if unknown Use positive boresight rotation as clockwise from north IE will use the yaw definition by negating this so we have a right hand definition that fits with internal computations double dBoreSightRotationZStdDev accuracy of the boresight in degrees zero if unknown char Extra 227 Reserved bytes should be zeroed heading_hdr_type 256 bytes The sing
25. T during fine alignment Name start time GPS sec and end time GPS sec of ZUPT 0 one epoch or 1 best fit over ZUPT length seconds Default is 1 Minimum length of time for a ZUPT Reject a ZUPT with velocity above this tolerance in m s 51 Appendix A Inertial Explorer 8 40 User Guide Rev 8 Appendix A 52 A accelerometer 9 18 21 Add 12 Master File s 12 Remote File 12 Alignment methods 17 antenna frame 15 height 12 lever arm 10 15 23 31 profiles 33 reference point ARP 12 station height 13 Auto Start Description 12 how to use 12 B BIF File data structure 47 BIR File data structure 47 Boresighting Angles 27 BTF File data structure 47 BTR File data structure 47 C coarse alignment description 17 combining solutions forward and reverse smoothed 26 Convert GNSS Data 10 IMU Data 10 Converting creating profile for raw data conversion 36 raw IMU data to IMR 35 copyright 2 D data interval for GPS updates in Inertial Explorer 24 DMI Options 25 DMR File 42 E error model settings 20 Export Inertial Explorer 8 40 User Guide Rev 8 Final Coordinates 11 export wizard 31 F FIL File see Message Logs 45 File Data Coverage Determine Alignment Method 10 FIM File see Trajectory File 46 fine alignment description 18 FTL Files see Message Logs 45 FTM File see Trajectory File 46 G GNSS updates Using 24 H Heave applying 23 HMR File 4
26. aded camera event The coordinates of the IMU at the time of the event is also displayed These values are generally transferred from Inertial Explorer directly and correspond to the IMU values interpolated at camera event times Photo E O values The omega phi and kappa values along with their associated standard deviations are displayed for each loaded camera event These values are produced externally in a photogrammetric package Matches residuals Before the computations begin choose whether or not to include the observations associated with a camera event in the least squares procedure by simply right clicking on the event Once the least squares procedure has finished the window is updated with the final residual values at each camera event Additional information such as quality indicators and computed omega phi and kappa values are also displayed Smoother Settings RTS smoothing can be performed in just one direction or both Much like GNSS and GNSS IMU processing it is recommended that smoothing be performed in both directions Solution s to smooth This option performs RTS smoothing on the loosely coupled or tightly coupled solution Time Range This setting controls which period of time to perform the combining and or smoothing of the trajectories Epochs outside of this time range is not considered and does not appear in the output files 1 5 3 Solve Boresighting Angles Please see Section 4 4 on Page 57
27. ame The order of rotations employed is Rx then Ry followed by R in decimal degree units 16 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 IMU Processing Settings 2 x System States Updates Mount User Omds r File Info IMU file JEAGPSData Inertial NovateN TAIWAN DATA FebS_ r Method for Initial Alignment Fwd Alignment gt Automatic Mode Fwd Options Rev Options I Use GNSS start end times Rev Alignment gt Automatic Mode MIMU Time Range IV Process all IMU data Begintime 195541 00 End time 199708 00 r Manage GNSS IMU Processing Profiles Current Profile Loaded SPAN Ground CPT Profile Manager OK Cancel Align Options m Method for Initial Ali Static coarse alignment only C Static coarse fine align C Kinematic alignment Transfer alignment enter known attitude Enter Attitude Initial Position and Velocity e Determine from GNSS suggested C Use entered values IMU only using trajectory Initial Static Alignment Period Coarse 60 00 s Fine 0 00 s Total 60 00 5 Cancel OK Advanced This provides access to advanced settings related to INS data processing and lets you choose the options best suited to your application System File Info The following fields are displayed IMU file Displays the path to the binary IMU measurement file that was a
28. and the mechanized INS positions obtained from the GNSS INS IMU GPS processing This is a good analysis tool Position used to check the GNSS INS solution as Misclosure well as checking INS stability Large jumps or spikes may indicate a bad INS solution whereas separations nearing zero confirms the GPS solution This plot shows the difference between the IMU GPS GNSS calculated velocity and the Velocity mechanized INS velocity obtained from the Misclosure GNSS INS processing Another good analysis tool used to check INS stability IMU This plot is the difference between the IMU Heading heading and the GNSS course over ground COG values Effects of crabbing shows up as a difference direct bias in this plot Use this plot if you want to see the raw E IMU gyroscope and accelerometer Values measurements as they appear in the IMR ile 1 7 2 Export Wizard Only the Export Wizard window exclusive to Inertial Explorer is discussed here Refer to the Graf Nav GrafNet Version 8 30 Manual for additional information concerning this feature IMU Epoch Settings Epoch Output Interval The Kalman GPS interval indicates the interval used during GPS processing while the IMU integration interval displays the interval at which the IMU data was processed These values can only be changed prior to processing The Output data interval defines the interval to export solutions The output interval can be set as high as 1000 Hz regardless of what i
29. at reflect this The program attempts to compute reasonable values during processing All values should be entered in degrees sec Inertial Explorer 8 40 User Guide Rev 8 21 Chapter 1 Inertial Explorer Spectral Densities Values Generally speaking the lower the grade of the sensor the larger the spectral densities that should be used for processing s previously discussed the spectral densities add noise to the covariance propagation process prior to filtering Therefore the higher the densities the greater the weight that is placed on the GNSS updates during filtering The following mathematical quantities are available Misalignment A misalignment noise density in degrees sec becomes a covariance when multiplied by some time interval t If the sensor triad is problematic in terms of providing an accurate attitude matrix or if initial alignment is poor then you may need to introduce large spectral density values here These spectral components add noise to the computed Kalman covariances for misalignment which in turn forces the processor to rely more heavily on the GNSS position and velocity updates As a result large errors in the direction cosine matrix are compensated for Accel Bias Accelerometer bias densities when multiplied by the prediction time interval act as additive noise to the accelerometer bias states As such larger values here may help to compensate for large biases in the accele
30. chaser when Purchaser has paid NovAtel all amounts due Risk of loss damage or destruction shall pass to Purchaser upon delivery to carrier Goods are provided solely for incorporation into the Purchaser s end product and shall not be onward delivered except as incorporated in the Purchaser s end product COPYRIGHT AND CONFIDENTIALITY Copyright in any specification drawing computer software technical description and other document supplied by NovAtel under or in connection with the Order and all intellectual property rights in the design of any part of the Equipment or provision of services whether such design be registered or not shall vest in NovAtel absolutely The Buyer shall keep confidential any information expressed or confirmed by NovAtel in writing to be confidential and shall not disclose it without NovAtel s prior consent in writing to any third party or use it other than for the operation and maintenance of any Equipment provided GENERAL PROVISIONS All Purchase Orders are subject to approval and acceptance by NovAtel Any Purchase Order or other form from the Purchaser which purports to expand alter or amend these terms and conditions is expressly rejected and is and shall not become a part of any agreement between NovAtel and the Purchaser This agreement shall be interpreted under the laws of the Province of Alberta LIMITED WARRANTY AND LIABILITY Warranty Period Products 1 year Accessories 90 days in each case from
31. co operating with NovAtel in such legal action 4 Restrictions You may not a use the software on more than one computer simultaneously with exception of the Windows and WinCE data logging software which may be copied and used for each GPS receiver collected data simultaneously b distribute transfer rent lease lend sell or sublicense all or any portion of the Software without the written permission of NovAtel cJalter break or modify the hardware protection key dongle thus disabling the software copy protection d modify or prepare derivative works of the Software e use the Software in connection with computer based services business or publicly display visual output of the Software implement DLLs and libraries in a manner that permits automated internet based post processing contact NovAtel for special pricing g transmit the Software over a network by telephone or electronically using any means except when downloading a purchased upgrade from the NovAtel web site or h reverse engineer decompile or disassemble the Software NovAtel retains the right to track Software usage for detection of product usage outside of the license terms You agree to keep confidential and use your best efforts to prevent and protect the contents of the Software from unauthorized disclosure or use Inertial Explorer 8 40 User Guide Rev 8 3 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue
32. d WAY P3HINT PRODUCTS GROUP A NovAtel Precise Positioning Product Inertial Explorer OM 20000106 Rev 8 Inertial Explorer User Guide Publication Number OM 20000106 Revision Level 8 Revision Date 2011 11 08 This manual reflects Inertial Explorer software version 8 40 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel Waypoint OEMV OEM4 GrafNav GrafNet Ad Vance Inertial Explorer GPStation ProPak RT 20 are registered trademarks of NovAtel Inc AdVance RT 2 and SPAN are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders QO Copyright 2011 NovAtel Inc All rights reserved Unpublish
33. d stabilize after the alignment period and agree when processed in both directions Gyro Attitude This plots shows the misclosure residual of gyroscope Kalman filter updates Large values here could be an Misclosure indication of attitude instability IMU Angular This plot shows the gyroscope rate of change of attitude in Rates 9 the X Y and Z axes of the IMU body with the drift removed 30 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 Table 1 IMU Plots con t Plot Description Shows the status of IMU processing IMU Status Specifically this plot provides indication of Flag the type of update if any being applied at each epoch This plots presents the body frame components of the lever arm offset between IMU GPS the IMU and GNSS antenna If the offset Lever Arm Was manually entered then this plot bears constant horizontal lines If left to be solved by the Kalman filter this plot shows the computed values IMU This plot is the difference between the IMU Heading heading and the GNSS course over ground COG values Effects of crabbing shows up as a difference direct bias in this plot Plots the difference between the East North Velocit and Up components of velocity computed Se jell Aes during forward and reverse processing p Requires that both directions be processed and combined This plot shows the difference between the GNSS solution
34. dded to the project Ifincorrect go to File Add IMU File to locate the proper raw data file Method for Initial Alignment Initial alignment whether processing forward or reverse determines the initial roll pitch and yaw of the IMU Alignment settings should be set with care to ensure that the best possible alignment is formed The following options are available and are largely dependent on the length of static data present Automated Alignment Recommended This option forces Inertial Explorer to scan the available data and automatically determine what type ofalignment to perform This option is highly recommended The other options should only be used if automated alignment is failing Static coarse alignment only The data being used for alignment must be static as any motion results in an error Coarse alignment is performed for the first 30 to 120 seconds of static IMU data collection and is used as a seed value for attitude information for either fine alignment or navigation Coarse alignment uses the sensed gravity vector components to estimate roll and pitch It uses sensed Earth rotation rate to provide an initial estimate of the yaw of the IMU DX Most low accuracy sensors such as MEMS can measure gravity components but the Earth rotation rate which is roughly 15 arc seconds per second at the equator may be masked by gyro noise As a result the initial yaw estimate from the coarse alignment may be wrong
35. dees deetiaa pe devtelan EE ERAEN EEE EERE S ERE D ENERET SE 39 3 1 1 NovAtel s SPAN Technology 39 SS File Formats eege teste gedeelt eaviaebe AER eege edd Eege A0 SE Fe 40 3 2 2 DMR d EE 42 3 9 ele DEE 45 3 31 FIL RIL FTLRTL VIE 45 3 3 3 BIF BIR BTF BIR Fil s innan derive ka Sd tomat da vikat dk aimee ada 47 Appendix A Appendix A Summary of Commandes 49 Index 53 Inertial Explorer 8 40 User Guide Rev 8 3 Table of Contents Inertial Explorer 8 40 User Guide Rev 8 Foreword Congratulations Congratulations on purchasing a Waypoint amp Products Group s software package Inertial Explorer amp is a Windows based suite of programs that provide GNSS Global Navigation Satellite System and inertial data post processing This manual will help you install and navigate your software Scope This manual contains information on the installation and operation of Waypoint Products Group s Inertial Explorer software package It allows you to effectively navigate and post process GNSS IMU Inertial Measurement Unit and wheel sensor data It is beyond the scope of this manual to provide details on service or repair please see the Conventions and Customer Service section on this page for customer support How to use this manual This manual is based on the menus in the interface of Waypoint s software It is intended to be used in conjunction with the most recent revision of the GrafNav GrafNet User Guide found at http www
36. e best estimate of the sensor s ability to compute roll pitch and yaw during coarse alignment assuming any is present Roll and pitch are estimated from the sensed gravity components in the horizontal axes of the accelerometer triad while yaw is estimated from the sensed Earth rate about the leveled gyro axes Typically while even MEMS sensors can make some estimation of roll and pitch the Earth rate is often masked by noise for lower grade IMUs The values entered here for x and y which represent pitch and roll are often as much as an order of magnitude smaller than that for z which represents yaw Ifin doubt simply enter large values in the range of thousand of arc seconds and allow the IMU Kalman filter time to eventually compute more sensible estimates of the error in the computation of the attitude matrix These values must be entered in degrees Accel Bias These values represent the initial uncertainties in the a priori knowledge of the constant bias errors in the accelerometer triad If these bias values were left at zero meaning that they are unknown then the standard deviation values entered here should reflect this uncertainty The processor then computes the biases on the fly These values should be entered in m s Gyro Drift These values refer to the initial uncertainty of the priori knowledge of the sensor drift in the gyroscopes If the biases are left at zero then enter standard deviations values here th
37. e should be greatly increased values of 50 to 100 if processing without accurately measured lever arms or if solving for them using the Solve lever arm values as additional Kalman filter states option Solve lever arm values as additional Kalman filter states Use this option if the 3 D offset from the center of the IMU sensor center of navigation array to the GNSS antenna phase center is not precisely known or not known at all The accuracy achieved with this option depends on the type of IMU used but is normally better than 20 cm Initial Std This value reflects the uncertainty in the entered lever arms values For the first iteration this value should be left at 5 meters In any subsequent iteration it should be lowered until the values have converged reasonably Accel and Gyro Extra States These options will add scale and or non orthogonality states to the Kalman filter for the accelerometer and gyroscope measurements Apply Heave Correction to Height For marine users who wish to apply heave compensation to the computed ellipsoidal height use this option to utilize Inertial Explorer s low pass filter The algorithm requires that a window size reflecting the period of the wave motion be entered The value computed with this option replaces the ellipsoidal height All trajectory files output files and plots where ellipsoidal heights are outputted with this option will now show the new heave compensated height values U
38. e the gyro measurements the accelerometer measurements can take two forms the first being data velocity or velocity increments and the other being acceleration Timing Settings Enter the data collection rate of the IMU sensor here and specify any offset that may exist between the GNSS and the IMU time tags Byte Order This flag must be properly set If the proper byte order is not specified the decoding of the binary raw file will fail 36 Inertial Explorer 8 40 User Guide Rev 8 Conversion Utilities Chapter 2 Time Tag Format There are only two options available here as the data is either acquired in the GPS time frame or the UTC time frame This must be correctly identified in order for the IMU data to be properly aligned with the GNSS data Time Tag Source Specify here whether the time tags represent the GPS Corrected Time or the GPS Received Time 2 1 3 Sensor Orientation Settings Defined the orientation of the IMU here using the steps in the shaded box The orientation will always be right handed 2 1 4 Decoder Settings Specifies which library will be used to perform the conversion based on the input format of the raw data file For most sensors this should be left untouched For SPAN the IMU decoding is handled through the GNSS decoder Sensor Timing Settings Sensor Orientation Decoder Settings m Manufacturers Sensor Orientation x
39. ed rights reserved under L 9 International copyright laws Printed in Canada on recycled paper Recyclable 2 Inertial Explorer 8 40 User Guide Rev 8 Table of Contents LEE ele EE 1 Software License mmennennnannaannnenananannannenananaaaanannenanaaaaaannnnananaanananenananaaananaannnaananaaaenna 3 Warranty EE 5 Terms and Conditi ONS 4swntnvitot taudi t h rakalkan ainsas kad vaada katad kugi d d erd aka andere 7 1 Inertial Explorer 9 1 1 Overview of Inertial Explorer 9 1 2 Getting Started with Inertial Explorer 9 1 3 4 Add IMU File nur keel dedi 13 1 3 5 Eoad BEE 13 UE 13 1 3 7 Removing Processing File 13 1 5 2 Combine Solutions 151 15541 sonia emnene heen Ld kaan AAA k ia kaid aeda ita kk 26 1 6 Settings Meng cece ceviusc coca datas detdans EES kava And nede haku SEENEN daamid eiere n dala a a a 30 17 Output EE 30 1 7 1 Plot RESUltS sinne hane da E EELER E E edge 30 1 9 Interactive Olne e 32 1 10 Processing WINKOW EE 32 1 14 El NEU 32 VATA Help I EE EE 32 1 11 2 The Waypoint Products Groupe Web Page rrrnnnnvnnrnnrnnnnnnvnnnrrrnnnnnvnnrerrnnnnnrnnnrnrenrrnrnnsennnne 32 2 Conversion Utilities 35 2 1 Raw IMU Data Converter 35 2 1 1 Waypoint IMU Data Conversion naene 35 2 1 3 Sensor Orientation Settings srrrrrrrnnnnrnnnenvennnnnrnnnnvrnnnnnrnnnrnrenennr renerne 37 21 4 Decoder Settings EE 37 3 Data and File Formats 39 3 1 Data 0 EE vine ctevtat
40. el The former option entails selecting one of the models from the scrolling window each of which has a set of initial standard deviation and spectral density values associated with it These models have been optimized for the indicated application or sensor through the processing of multiple sets of applicable data Because all values have been empirically derived through a trial and error process the accuracy achievable by their use cannot be guaranteed Certain profiles have been tailored for certain conditions as opposed to specific sensors For example the Navigation High Precision model is most suitable for high end units with gyro drift rates on the order of 0 01 hr or better whereas the Tactical Medium Precision model is aimed at medium grade systems with drift rates in the range of 1 hr to 10 hr The Automotive Low Precision model allows the Kalman filter to loosen up in order to compensate for poor field conditions such as short or non existent static alignment Edit Error Model Values This is one of the most important components of processing IMU data successfully In general the less expensive the sensor package the more tuning that is required to find initial variances and spectral densities that work optimally for that particular IMU For some MEMS sensors it is critical that spectral densities match the sensor noise of the system In some cases IMU processing cannot be performed at all without a properly
41. eleration present It is computed by the GNSS INS Kalman filter and the effects may be sinusoidal or random It is plotted in terms of the X right direction Y forward direction and Z up direction of the INS body Generally they should stabilize after the alignment period and agree when processed in both directions Attitude Azimuth Heading Plots the heading and GNSS COG course over ground that was computed from the GNSS INS processing Effects of crabbing is visible in this plot if the GNSS COG bears a constant offset from INS heading The IMU Heading COG Difference plot shows the difference between these two heading values Note that any transitions between a heading of 359 degrees and 0 degrees shows up as a vertical line Attitude Roll and Pitch Plots the roll and pitch values from GNSS INS processing In airborne data it is common to see roll values between 30 degrees and pitch values of around 10 degrees depending on the flight pattern of the aircraft itself This plot shows the difference between the forward and reverse solutions in terms of roll pitch and heading A zero Acceleration Attitude separation is ideal as it indicates matching solutions in the Separation forward and reverse IMU processing Spikes at the beginning and the end of the plot are common as they indicate the periods of alignment Body Frame This plot shows the components of acceleration in the vehicle body frame
42. ent Accel Bias Gyro Drift Accel Bias Gyro Drift Velocity Position 22 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 IMU Processing Settings 2 xi System States Updates Mount User Cmds m Error Model Select error model m Solve IMU gt GNSS Lever Arm I Solve lever arm values as additional kalman filter states ba Y ba Zz Er m Accel and Gyro Extra States Initial Std Dev Initial Std Dev IV Accel Scale 10 ppm IV Accel Orthog 25 arcsec IV Gyro Scale 10 ppm IV Gyro Orthog 25 arcsec Apply Heave Correction to Height I Apply Heave EN 0 Initial Std IMU Processing Settings 2 x System States Updates Mount User Cmds Variance Factors for Residual Testing GNSS Pos 1 0 Zupt 29 Phase 10 0 Range 1 0 r GNSS Updates IV Update Interval from GPS Data Enter GPS Update Interval 5 DMI foo r Zero Velocity Coordinate Updates Add IV GNSS Velocity Update m Distance Measuring Instrument DMI Updates I Enable DMI from file DMI Options r Heading Updates I Heading Updates from File Kg Solve IMU gt GNSS Lever Arm Lever arm accuracy is critical to post processing results as position velocity and phase updates measured at the GNSS antenna phase center need to be applied at the IMU center of navigation The position varianc
43. ent and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of the Order NovAtel shall be liable to Buyer only for those damages which have been foreseen or might have reasonably been foreseen on the date of effectivity of the Order and which are solely an immediate and direct result of any act or omission of NovAtel in performing the work or any portion thereof under the Order and which are not in the aggregate in excess of ten 10 percent of the total Order price 8 Inertial Explorer 8 40 User Guide Rev 8 Chapter 1 Inertial Explorer 1 1 Overview of Inertial Explorer Waypoint Products Group s Inertial Explorer post processing software suite integrates rate data from six degrees of freedom IMU sensor arrays with GNSS information processed with an integrated GNSS post processor same as GrafNav s Inertial Explorer utilizes strapdown accelerometer Av and angular rate A0 information to produce high rate coordinate and attitude information from a wide variety of IMUs Inertial Explorer implements either a loose coupling LC of the GNSS and inertial data or tightly coupled TC processing that uses GPS carrier phase to limit error during periods where satellite tracking is limited or variable even if only 2 or 3 satellites are visible It is important to time tag the inertial measurements to the GPS time frame during the data collection process Proper synchronization is vital Otherwise the IMU da
44. es and customer service contact NovAtel s Waypoint Products Group using the following methods Call U S amp Canada 1 800 NovAtel 1 800 668 2835 China 0086 21 54452990 8011 Europe 44 1993 848 736 SE Asia and Australia 61 400 883 601 Email support novatel com Web http www novatel com Write NovAtel Inc Customer Service Department 1120 68 Avenue NE Calgary AB Canada T2E 8S5 2 Inertial Explorer 8 40 User Guide Rev 8 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON CD OR AVAILABLE ON THE COMPANY WEB SITE hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to use the software subject to the limitations below You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other c
45. es at Gimbal Centre if Filled in x 2 000 y 0 000 z 10 000 metres Additional Corrections I Enable extemal auto stabilized camera mount input using file Import mount data must be in standard format and reference use Import Info IT Apply IMU to Camera boresight anales as solver x r Smoother Settings Solutions to smooth frc Solutions both directions present Mi Smooth both directions and combine C Forward C Reverse L r Time Range IV Smooth entire time range 26 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 Smooth xl r Smoother Settings Solution s to smooth TC Solutions both directions present _ 7 Smooth both directions and combine C Forward C Reverse r Time Range IV Smooth entire time range 0 x Show Navigation values v Angles in degrees SD Resid and BS in ArcMin A Settings Calibration name BS IV Add results to list use for Export T View report after computation p roes deg IT Update navigation angles on entry 15 53 Boresight module version 8 10 2130 15 53 c Copyright Nov tel Inc 2008 15 53 E g 9 15 53 Settings New Load gt View gt Clear Msg Close Values that are visible with the Show drop down menu Navigation values The roll pitch and heading values along with their associated standard deviations is displayed for each lo
46. exterior orientation input data The navigation data can be obtained either by loading the latest set of roll pitch and heading values computed by Inertial Explorer or by an external file which contains this information for each camera event Alternatively if such information is available there is the ability to provide the module directly with the omega phi and kappa angles required to rotate the ground system into the IMU frame Obtaining the attitude angles directly from Inertial Explorer is by far the most common usage The exterior orientation parameters for each photo must be supplied by an external file This file should contain the omega phi and kappa angles required to rotate the ground system into the image system View This button gives access to the post calibration report The report contains relevant boresight calibration information as well as a list of all the input data provided for each camera event The bottom of the report displays the boresight values and residuals from the final iteration This report can be viewed through either NotePad or the internal Inertial Explorer ASCII viewer This button also gives you access to the calibration history For each calibration run the final boresighting results have been saved assuming the Add results to list option is enabled Clear Msg This button simply clears the Message Window of any messages currently displayed Inertial Explorer 8 40 User G
47. followed by some higher dynamics such as an aircraft S turn The time period can range from 4 to 40 seconds depending on the dynamics at the chosen start time This feature is useful when there is no static data While Inertial Explorer has been successful at aligning tactical grade systems using this method there is no guarantee regarding lesser grade IMUs It might even be necessary to pick a different error model in order to prevent instabilities arising in the Kalman filter Transfer alignment If roll pitch and yaw are known these values can be entered as initial integration constants to allow navigation to proceed Attitude angles can be provided by another IMU in which case the misalignment between the IMUs must be applied or they can be extracted from another trajectory such as the opposite processing direction Click Enter Attitude to enter initail attitude information manually or select Get from Trajectory to scan at a specified time from a defined IMU trajectory The first epoch appearing in the IMU trajectory file of the direction opposite that of the one being processed The attitude and velocities as well as their standard deviations are loaded 18 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 Align Options Method for Initial Alignment Ze Static coarse alignment only C Static coarse fine align C Kinematic alignment C Transfer alignment enter known attitude
48. formance of this feature is dependent on the type of DMI being used so it is suggested to process data with and without this option to determine its usefulness Measurement standard deviations The standard deviation associated with the DMI measurements depend on the DMI being used As such this value may need to be determined empirically Wheel circumference The default value is 1 96m Change this value if it is not correct Small errors are compensated for by the computed scale factor during processing It is also possible to allow the software to determine this value based on the header in the DMR file assuming such information is available Inertial Explorer 8 40 User Guide Rev 8 25 Chapter 1 Inertial Explorer Heading Updates External heading updates are obtained by first processing the relative vector between two antennas mounted on the same vehicle as the IMU For best results knowledge of the accuracy of the heading update as well as the constant offset between the IMU and the two GNSS antenna must be known Heading Updates from File Certain applications benefit greatly from the use of external heading updates Examples of these applications include where a low quality IMU is used or where it is impossible to follow recommended alignment procedures or where a vehicle moves very slowly and or does not experience many changes in heading The HMR data format is described in Section 3 2 2 on Page 42 M
49. he IMR file See Chapter 2 on Page 35 for help 5 Add the file to the project via File Add IMU File How to process IMU Data 1 Inthe Process menu select Process LC Loosely Coupled or Process TC Tightly Coupled gt lt Ifyou are processing in loosely coupled mode make sure that you have processed the GNSS data first 2 Select a processing settings profile 3 Enter the 3D lever arm offset from the IMU sensor to the GNSS antenna 4 Add body rotation information if the IMU data was not decoded as Y Fwd X Right Z Up 5 Click Process Convert and Process GNSS Data Refer to the GrafNav GrafNet 8 30 Manual to process GNSS data The only exception is that the new project is created in Inertial Explorer not GrafNav Convert IMU Data IMU data must be converted to Waypoint s generic IMR format for processing To do this follow the steps in the shaded box NovAtel SPAN users don t have to follow these steps because they have a one step process to convert their IMU data Determine Alignment Method Once the GNSS data is processed use the File Data Coverage plot in conjunction with the Velocity Profile plot to decide which alignment mode to use Perform a static coarse alignment for two minutes in both directions for optimal processing unless you are working with a MEMS based system If no static data is present at the start and or end times of the Velocity Profile plot then
50. igation SD values the photo SD values if provided or a combination of both The other setting here pertains to the outlier tolerance The value specified here determines at which point a measurement is removed from the least squares procedure Boresight Settings Axes 5ystem Definition System ETTE Order W primary P secondary K tertiary gnd t Axes X forward Y left Z up conventional fran Y r Grid Map Definition Datum wG584 SS Grid UTM Zone 15 Change r Measurement Weighting SD source Use constant values below SS OmegasD 0 0167 deg Average around height 1044 4 m Display Units Attitude values Degrees rd nDecimals 4 SD residual and boresight values nDecimals 2 PhiSD 0 0167 deg KappaSD 0 0500 deg Outlier detection tolerance 3 0 NSD Factory Defaults Arc Minutes Y Cancel Axes System Definition options System The selection made here defines the ground coordinate system to which the omega phi and kappa values are oriented see Section 4 4 on Page 57 for a description and diagram of the navigation values Normally they are referenced to a map projection which is defined in the Grid Map Definition settings Order This setting defines the order in which the omega phi and kappa angles are to be applied during the transformation from the ground system to the image or IMU system Only the omega primary phi secondary and kappa te
51. iles Here is the C C structure definition of the header which is 512 bytes typedef struct char Str 16 long HdrSize long IsExtended long RecSize long Reserved1 double Interval char ProgramName 32 char VersionName 32 char Direction 16 char Reserved2 392 imu hdr type SIMUOUT size of this header true if exended format used size of this record for later zero data interval s program name that created this file version that produced file A Forward Reverse or Combined reserved for future use zero at creation of new file The single header is then followed by the 121 byte structure type below for each processed epoch typedef struct double GpsTime short WeekNum GPS time of this record seconds of week week number unsigned char FixedFlagAndHeave 2 bit 0 Fixed solution on float solution off plh_type_double GeoPos fxyz_type LLVel fxyz_type LLAcc iatt_type LLAtt fxyz_type LLAttDot fxyz_type stdPos fxyz_type stdVel fxyz_type stdAtt char Reserved 1 mu outrec type typedef struct double phi lamda double ht plh_type_double bits 1 14 heave 16 384 m bit 15 sign of heave geographic position of this record deg deg m local level velocity m s local level acceleration m s2 local level attitude deg scaled body frame rotational rate deg s position standa
52. inal top of the epoch 2 corrected time i e corr_time rev time revr clock bias default is 0 0 but if you have a known millisecond level bias in in your GPS INS time tags then enter it here Name or type of inertial unit that is being used Set to true if the sensor definition that follows is valid Skip if writing directly to this format Direction of X axis skip if writing directly to this format Direction of Y axis skip if writing directly to this format Direction of Z axis skip if writing directly to this format Name of calling program skip if writing directly to this format Creation time skip if writing directly to this format 12 bytes Set to true if the sensor definition that follows is valid Lever arm is from IMU to GPS phase centre X value of lever arm in millimeters Y value of lever arm in millimeters Z value of lever arm in millimeters Reserved for future use bytes should be zeroed The single header which is a total of 512 bytes long is followed by a structure of the following type for each IMU measurement epoch typedef struct double Time long 9x 9y 9Z long ax ay az INS type GPS time frame seconds of the week delta theta or angular rate depending on flag in the header delta v or acceleration depending on flag in the header this is the binary structure type expected in GPSIMU lt The angular increments o
53. l wheel revolution 3 if high resolution i e makes measurements at partials of a wheel revolution or on fixed time intervals Type of distance measurement Must be set if sMeasType distance measurements 1 if logging accumulated tick count 2 if logging distance in meters 3 if logging accumulated distance in meters Type of velocity measurement Must be set if sMeasType 2 velocity measurements 1 if logging velocity in meters second 2 if logging velocity in ticks second Scale factor m count or m s count Must be set if sValueType is set to 0 1 0 if logging accumulated tick count or ticks seconds If logging in meters or meters second then dScale will scale measurements into corresponding units 42 Inertial Explorer 8 40 User Guide Rev 8 Data and File Formats Chapter 3 char szAxisName DMI MAX DIMJ 16 Name of various axes DMI optional NULL terminated double dWheelSize Size of the wheel in meters Must be set if logging accumulated tick count or ticks second long ITicksPerRevolution Number of tick counts per wheel revolution Must be set if logging accumulated tick count or ticks second char cExtra2 420 Reserved for future use bytes should be zeroed The single header which is a total of 512 bytes is followed by one of the following structure types for each DMI measurement record struct dmi_lrec_type If logging using L
54. le header is then followed by the 34 byte structure type below for each heading update record typedef struct double dGpsTime short sGpsWeek double dHeading float fHeadingStdDev float fBaselineLength float fPitch float fPitchStdDev heading_rec_type GPS time of week in seconds GPS week number set to 1 if unknown Heading update in decimal degrees Use positive rotation clockwise from north IE uses yaw i e rotation counterclockwise from north yaw heading Standard deviation of update decimal degrees zero if unknown Distance between antennas in meters Only if ucType 2 dual antenna Pitch between two antennas in degrees Only if ucType 2 dual antenna Standard deviation of the pitch in degrees zero if unknown 34 bytes 44 Inertial Explorer 8 40 User Guide Rev 8 Data and File Formats Chapter 3 3 3 Output Files This section discusses the different output files that are created when processing with Inertial Explorer 3 3 1 FIL RIL FTL RTL Files Message Log files echo all error and warning messages sent to the Process Window during INS processing Some example messages are in the shaded box FIL RIL FTL RTL message files Coarse Alignment Succeeded on attempt 1 This message appears at the beginning of forward reverse processing It indicates that the coarse alignment was successful Reading Graf Nav Record 1000 Scan
55. ll other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support see Conventions and Customer Service on page 1 Inertial Explorer 8 40 User Guide Rev 8 Warranty NovAtel Inc warrants that during the warranty period a its products will be free from defects and conform to NovAtel specifications and b the software will be free from error which materially affect performance subject to the conditions set forth below for the following periods of time Computer Discs Ninety 90 Days from date of sale Software Warranty One 1 Year from date of sale Date of sale shall mean the date of the invoice to the original customer for the product Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foreg
56. lorer 8 40 User Guide Rev 8 11 Chapter 1 Inertial Explorer Project Wizard Steps 1 Create and name the project 2 Add rover data to the project The rover data can be in Waypoint s GPB format or in the receiver s raw format in which case the Wizard converts it to GPB for you If you are a NovAtel SPAN user and you add a raw data file the Wizard automatically detects the IMU model for conversion to IMR format 3 Add base station data to project You can add your own local base station data in raw or GPB format or you can have the Wizard download free service data from the Internet If you plan to process with PPP you can skip the previous step and download the precise satellite clock and orbit files from the Internet How to start a new project using Auto Start 1 Enter a name for the project with File Name Check that the file path is pointing to the directory where the project files are saved 2 Choose the Master Station File s This is the GNSS data file collected at the reference station Raw GNSS data files must first be converted to Waypoint s common format GPB Refer to Chapter 8 of the GrafNav GrafNet Version 8 30 Manual for more information on converting data 3 Choose the Remote File It must contain GNSS data collected during the same time period as the reference station Choosing a name of an existing project overwrites
57. nd a rotation of 180 about the Z axis will need to be entered under the Advanced tab of the IMU processing options Attitude Separation This plot requires that forward and reverse have both been processed It shows the difference between their attitude values and ideally they should agree IMU GNSS Position Misclosure This plot shows the difference between the GNSS only and the GNSS IMU trajectories and they should agree Use Build Custom List to add some of the these plots to the list Export Final Coordinates The steps for exporting final coordinates are in the shaded box Plot Results Select Plot X Axis Aus List of variables CTRL click to select multiples E SS EH ES E E E Most Common ks Accuracy Measurement far Separation beg Quality Control ke Coordinate Values beg Attitude beg IMU be Miscellaneous be All Add Group Edit Build Custom How to export final coordinates 1 Select Output Export Wizard 2 Specify the source for the solution Epochs outputs the trajectory while Features Stations exports positions only for loaded features such as camera marks 3 Select a profile For Inertial Explorer select IMU Data as the profile 4 Click Next 5 Use the processing datum for the datum screen lt If prompted for the geoid undulation file it can be found on the distribution CD Inertial Exp
58. ning the GPS IMU data before processing Warning Coarse Alignment has used up all of the Align Time Will Continue Processing anyway This message indicates that the INS processor used all the coarse alignment time entered Warning GUPT Missing in GPS data gt DT 0 200 This message indicates the presence of a gap in GPS data of time DT seconds As a result the processor cannot use this time as a GPS update Warning Trace of Body Earth matrix lt 0 after update Check on Fix 1 tr C of transform matrix 0 056389 This message is purely a mathematical computation warning Inertial Explorer 8 40 User Guide Rev 8 45 Chapter 3 Data and File Formats 3 3 2 FIM RIM FTM RTM Files These files contain the trajectory information computed by the inertial filter and are available for both tightly coupled and loosely coupled processing They are typically output at a minimum rate of 1Hz but can be higher depending on the GNSS update interval The first line of the output file always begins with OUTREC and is followed by the version number the processing engine and the type of output An example is given below SOUTREC Ver8 30 0329 GPSINSDLL Forward GpsInsOutput The format of these ASCII trajectory files is outlined within the header of the forward reverse files and will therefore not be discussed here 46 Inertial Explorer 8 40 User Guide Rev 8 Data and File Formats Chapter 3 3 3 3 BIF BIR BTF BTR F
59. ns not conforming to NovAtel s specifications or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by the Purchaser without prior written consent from NovAtel vii Products designated by NovAtel as beta site test samples experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or 1x Services or research activities 7 EXCLUSION OF LIABILITY If a Party would but for this paragraph 7 have concurrent claims in contract and tort including negligence such claims in tort including negligence shall to the extent permitted by law be wholly barred unenforceable and excluded NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order or of statutory duty or by reason of tort including but not limited to negligence for any loss of profit loss of use loss of production loss of contracts or for any financing costs or for any indirect or consequential damage whatsoever that may be suffered by the Buyer In the ev
60. nterval the data was processed at The time range for which to obtain outputs can also be limited here Lever Arm Offset Allows for the coordinates of the IMU calculated via the IMU Kalman filter to be transferred to an alternate sensor s location The orientation of the frame in which these coordinates must be entered You are also free to save your offset for future use via the Favorites button 1 8 Tools Menu Refer to Chapter 2 of the GrafNav GrafNet Version 8 30 Manual for information regarding all of the options available via this menu Inertial Explorer 8 40 User Guide Rev 8 31 Chapter 1 Inertial Explorer 1 9 Interactive Windows Refer to the GrafNav GrafNet Version 8 30 Manual for information regarding the Map Window and the features available within it Only the additional information available through Inertial Explorer regarding the Processing Window are discussed here 1 10 Processing Window Table I on Page 30 contains a list of the additional parameters available for viewing in Inertial Explorer during processing Display these values via the View button in the Processing Window The values in the GrafNav GrafNet Version 8 30 Manual differs in the manners in which they are computed depending on the mode of processing being performed If the GNSS is being processed then the values displayed are those computed in the Kalman filter However during the IMU processing the value
61. och outputted during GNSS processing It sets the update interval equal to that used for GNSS processing De select this option if you wish to manually specify the rate at which the software will perform GNSS updates Note that the updates cannot be applied at a higher rate than the GNSS data interval Enter GNSS update interval s This value specifies the rate that Inertial Explorer performs GNSS updates Updates cannot be performed at a rate higher than the GNSS data processing lt Performing updates at a rate higher than 1 Hz is not helpful unless the data was collected in an environment with high dynamics 24 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 Advanced IMU Properties m Zero Velocity Updates ZUPTS r Coordinate Updates IMU Only Name Start s Ends 4 gt 4 gt Add Edt Remove Load Add Edt Remove Load Cancel OK IMU Processing Settings J RES System States Updates Mount User Cmds r Variance Factors for Residual Testing GNSS Pos 1 0 Zupt 29 Phase foo Range fo M GNSS Updates IV Update Interval from GPS Data Enter GPS Update Interval 5 r Zero Velocity Coordinate Updates Add IV GNSS Velocity Update DMI foo r Distance Measuring Instrument DMI Updates I Enable DMI from file DMI Options Info m Heading Updates I Heading Updates from File Std Dey Heading
62. oing warranties do not extend to 1 nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of the Products or use in other than a normal and customary manner environmental conditions not conforming to NovAtel s specifications or failure to follow prescribed installation operating and maintenance procedures 1i defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by the Purchaser without prior written consent from NovAtel vii Products designated by NovAtel as beta site test samples experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LI
63. opyrighted material and the Software may only be used on one computer at a time No right is conveyed by this Agreement for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sustained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of
64. or can be used with Inertial Explorer The only requirement is that the data be logged in the format provided below which allows easy decoding with IMU Data Conversion utility described in Section 2 1 1 on Page 35 The Table 2 in the shaded box presents the binary structure in which the conversion utility expects the raw IMU data to be logged 3 1 1 NovAtel s SPAN Technology With the use of NovAtel s SPAN technology note the difference in the IMU data decoding procedure Since the raw IMU data measurements are embedded into the same binary file containing the raw GNSS measurements only one step will be needed to separate the data and convert it into the Waypoint Group s format so the Raw IMU Data Converter utility does not need to be used Instead decode the GNSS and IMU data simultaneously via the Convert Raw GNSS data to GPB utility which can be accessed via File Convert When adding the measurement file to the Convert Files window for decoding ensure that the drop down menu under the Receiver Type box has been set to NovAtel OEM4 OEMV OEM6 Then click either the Global Options or Options button to gain access to the IMU decoding settings Data and File Formats Table 2 Binary Structure of Raw Data Description time of the current IMU rate measurements in GPS seconds of the week GpsTime 8 scaled X body axis gyro measurement as anangular increment or angular rate GyroX 4 long scaled Y bod
65. ount If you have mounted your IMU onto a gyro stabilized platform you will need to provide Inertial Explorer with the angular rotations to compensate for the changing lever arm between the IMU and GPS User Commands Certain options available in Inertial Explorer cannot be accessed through the options menu A full list of configured options is available under this tab and may be invoked to employ special features or overwrite defaults For an explanation of all the commands available here see Appendix A on Page 49 1 5 2 Combine Solutions Refer to the GrafNav GrafNet Version 8 30 Manual for information regarding these options Only points relevant exclusively to Inertial Explorer are made here Smooth Solutions Inertial Explorer is capable of combining processing directions and or performing Kalman filter smoothing on inertial trajectory This option requires that the inertial data is already processed Smoothing provides the most significant results on those data sets where GNSS outages were a problem By using this smoother the position velocity and attitude errors can be reduced when GNSS updates are not available Smoothing can also clean up position and velocity accuracies even if there are no gaps See Chapter 4 on Page 49 for more information IMU Processing Settings System States Updates Mount User Cms IMU gt Gimbal Lever Arm 0 0 0 at IMU gt Su side hud Z up NOTE IE will output ALL Coordinat
66. pdates Variance factors for residuals Inertial Explorer performs residual testing using a standard least squares approach on position phase and Zero Velocity ZUPT updates Phase updates applied where there is a minimum of two satellites are only available in tightly coupled processing GNSS position updates and ZUPTs which are detected from raw IMU measurements can be applied in either loosely or tightly coupled processing Inertial Explorer 8 40 User Guide Rev 8 23 Chapter 1 Inertial Explorer Updates are accepted only if the computed residual is within the set tolerance The IMU processing profiles contain pre defined position variances for NovAtel SPAN models These have been tested to help ensure good results on typical surveys provided that lever arm has been accurately measured GNSS Updates These options are listed in teh shaded box Zero Velocity Coordinate Updates This option is only available for performing IMU processing without the aid of GNSS data Otherwise this functionality must be carried out automatically via GNSS updates throughout the mission GrafNav uses Doppler information to compute GNSS derived velocities Doppler accuracies vary significantly depending on the receiver View the LI Doppler Residual RMS via Output Plot Results The standard deviation of the Doppler measurements used by the GNSS Kalman filter can be controlled via Settings Individual Measurements
67. pected number of camera events have been read in Once the calibration procedure is complete the final boresighting values as well as the number of iterations needed to arrive at them are displayed The following options are available via the buttons along the bottom of the Solve Boresight Angles window Compute Assuming all the required input data has been loaded press this button to begin the iterative least squares procedure The Message Window contains pertinent information regarding the success or failure of the procedure Settings This button gives access to the Boresight Settings window which is useful for configuring many parameters used in the boresight calibration Axes System Definition The options are listed in the shaded box Grid Map Definition The options made available here depend on the system definition chosen above If the input angle were provided with respect to a map grid then the selection made here determines the convergence value a used to form the R matrix In addition grid users are given the opportunity to enter the average ground height in order to maximize accuracy Measurement Weighting The selections made here determine the composition of the variance covariance matrix used in the least squares procedure to derive the final boresighting values Choose to enter a set of constant standard deviation values to apply to all measurements or have the values derived from either the nav
68. r angular rates are scaled long integers The scale factor to obtain a double precision word must be supplied in the header Similarly the accelerations or velocity increments are signed four byte words and must be scaled by a double precision variable given in the header Inertial Explorer 8 40 User Guide Rev 8 41 Chapter 3 Data and File Formats 3 2 2 DMR File lt All odometer data must be written into Waypoint s generic format DMR before it can be used within Inertial Explorer struct dmi hdr type char szHdr 8 short sHdrSize short sRecSize short sValueType short sMeasType short sDim short sRes short sDistanceType short sVelocityType double dScale S DMIRAW 0 NULL terminated ASCII string Size of header in bytes Must be set to 512 Size of each record refer to dmi lrec type and dmi drec type 12 8 sDim if sValueType DMI VALUE DOUBLE 12 4 sDim if sValueType DMI VALUE LONG where sDim is number of DMI sensors Number type DMI VALUE LONG DOUBLE 0 if logging data using LONG values 1 if logging data using DOUBLE precision Measurement type distance or speed 1 if logging a distance measurement 2 if logging a speed measurement Number of DMI sensors Maximum is 3 but only 1 can be used in Inertial Explorer Measurement resolution of DMI 1 if low resolution i e only makes measurements on the ful
69. rd deviations m velocity standard deviations m s attitude standard deviations deg latitude and longitude deg ellipsoidal height m Inertial Explorer 8 40 User Guide Rev 8 47 Chapter 3 Data and File Formats typedef struct float x y Z fxyz_type typedef struct signed long Roll iPitch 1Yaw latt type attitude deg scaled by 1 0e 6 48 Inertial Explorer 8 40 User Guide Rev 8 Appendix A Summary of Commands ACCEL BIASES xyz ACCEL NOISE sd1 sd2 sd3 ACCEL SD xyz ALIGNMENT MODE mode ASCII OUTPUT INTERVAL Interval COARSE ALIGNMENT MODE mode COARSE ALIGNMENT TIME timel time2 CORRELATION TIMES gyro time accel time DATA RATE rate DYNAMICS MODE mode GPS COVARIANCE SCALE pos vel GPS HEADING UPDATES OFF ON const StdDev GPS INS OFFSETS dx dy dz Accelerometer biases in m sec Spectral densities of the accelerometer bias states in m s A priori Kalman standard deviations for accelerometer bias states in m s O coarse fine align 1 coarse align only 2 no alignment transfer or on the fly alignment ASCII IMU output to FIM RIM files Default is 1Hz O static coarse alignment 1 Jenter the az 2 transfer alignment Seconds of coarse alignment for FWD REV processing Correlation time for Gauss Markov gyroscope and accelerometer bias states in seconds Data rate for IMU 64 Hz for LTN90 50 Hz for LRF
70. records second If you do not know it set this to zero and then fill it in from the interface dialog boxes Scale multiply the gyro measurements by this to get degrees sec if bDeltaTheta 0 Scale the gyros by this to get degrees if bDeltaTheta 1 If you do not know it then the data can not be processed Our default is to store the gyro data in 0 01 arcsec increments or 0 01 arcsec sec so that GYRO SCALE 360000 Scale multiply the accel measurements by this to get m s if bDeltaVelocity 0 Scale the accels by this to get m s if bDeltaVelocity 1 If you do not know it the data can not be processed Our default is to store the accel data in 1e 6 m s increments or le 6 m s so that ACCEL SCALE 1000000 Defines the time tags as being in UTC or GPS seconds of the week 0 Unknown default is GPS 1 UTC 2 GPS 40 Inertial Explorer 8 40 User Guide Rev 8 Data and File Formats Chapter 3 int iRcvTimeOrCorrTime double dTimeTagBias char szimuName 32 bool bDirValid unsigned char ucX unsigned char ucY unsigned char ucZ char szProgramName 32 time_type tCreate bool bLeverArmValid long IXoffset long lYoffset long IZoffset char Reserved 354 D Defines whether the GPS time tags are on the nominal top of the second or are corrected for receiver time bias 0 do not know default is corrected time I receive time on the nom
71. rometers Gyro Drift Gyroscope drift densities similarly act as additives to the covariances computed for the gyroscope drift states In the case of inexpensive units larger values here may be necessary Velocity Velocity spectral densities are noise densities that account for unmodeled velocity effects during each Kalman prediction Increasing this value permits more emphasis to be placed on the GNSS update data but may also lead to an increase in error growth during outages For this reason these values should be determined as part of the tuning process The default values are recommended unless dealing with a trajectory of unusually high dynamics such as a race car in which case these may need to be reduced by an order of magnitude Position Position spectral densities are noise densities that account for unmodeled position effects during each Kalman prediction Apply all of the considerations mentioned above here for the velocity spectral densities Edit Error Model Values xj Source Manufacturer r Initial Standard Deviation Values Axis Y Axis Z Axis Misalignment 1 11111e 001 1 11111e 001 1 11111e 001 deg 3 00000e 002 3 00000e 002 3 00000e 002 metres s 2 2 77778e 002 2 77778e 002 2 77778e 002 deg s Spectral Densities Values square root of Axis Aus Z Axis Misalignment 8784106004 8784106004 8784106004 deg s ene pezen FH were avesideni0 renen ernen deg s Face Face FS mye
72. rtiary rotation order is supported Axes Use this to define the orientation of the image system The most commonly used system is the conventional frame where the x axis points forward the y axis points left and the z axis points upwards The frame defined here determines the composition of the R matrix 28 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 Solve Boresight Angles xj Angles in degrees SD Resid and BS in ArcMin RollSD PitchSD HeadsD Show Navigation values 2 IV Add results to list use for Export I View report after computation I Update navigation angles on entry Settings e Tf w 9 15 53 Boresight module version 8 10 2130 9 15 53 c Copyright Nov tel Inc 2008 9 15 53 Calibration name B S Angles Settings New Load gt View gt Clear Msg Close Import Photo EO WPK Angles E x File name Browse File format fio omega phi kappa x View Attitude units Degrees Cancel Display Units These options pertain to the values displayed in the Solve Boresight Angle window and determine which units are used when writing to the Boresight Report file These options also allow the number of decimals places to which all values are displayed or written to be modified New This button clears any stored data from previous calibration runs in order to start a new one Load Use this to load the required navigation and
73. s as provided by the manufacturer to remain available for future use In either case disabling the Lock selection setting is required before the selection of any error model can be made Once an error model has been selected this setting should be re enabled to ensure that it is not accidentally changed 20 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 Edit Error Model Values Initial Standard Deviation Values Axis Y Axis Z Axis Misalignment 1 1111 Te 001 1 11111e 001 1 11111e 001 deg Accel Bias 3 00000e 002 3 00000e 002 3 00000e 002 metres s 2 Gyro Drift 2 77778e 002 2 77778e 002 2 77778e 002 deg s r Spectral Densities Values square root of Axis Aus Z Axis Misalignment 8784106004 6784106004 8784106004 deg s Accel Bias 2 16228e 006 16228006 21628008 metres s 2 Gyro Ditt 878410e010 f 8 78410e010 878410010 degis Velocity 00000008 fi 00000e003 00000008 m s Position hannen 1 00000e 003 fi 00000e 003 m ent Initial Standard Deviation Values The following mathematical guantities are available Source Manufacturer Misalignment These terms pertain to the difference between the computed direction cosine matrix and relate the IMU body frame to the computation frame ECEF in Inertial Explorer and an error free idealized direction cosine matrix or attitude matrix These values represent th
74. s displayed reflect those calculated in the IMU Kalman filter using the GNSS information as updates Ideally these values should agree When they do not monitor the position and velocity misclosure 1 11 Help Menu 1 11 1 Help Topics Opens an HTML version of this manual with the GrafNav portion included This feature is a quick and easily accessible reference 1 11 2 The Waypoint Products Group s Web Page This option opens a web browser to the Waypoint Products Group s page on NovAtel s website where details on the latest versions patches information on GNSS INS and technical reports can be found 32 Inertial Explorer 8 40 User Guide Rev 8 Inertial Explorer Chapter 1 Manufacturer files available to download from Waypoint s FTP site manufact adf List of antenna profiles Refer to the GrafNav GrafNet Version 8 30 Manual for more details manufact dn1 List of base stations available for the Download utility This is usually updated monthly manufact dtm List of datums ellipsoids and transformations between datums Refer to Chapter 11 ofthe GrafNav GrafNet Version 8 30 Manual for details manufact fvt List of Favourites and the groups they are contained in These only contain coordinates for stations available with the Download utility Refer to the GrafNav GrafNet Version 8 30 Manual for more information manufact grd List that contains available grids such as UTM US State Plane Gau
75. ss Kruger etc Refer to the GrafNav GrafNet Version 8 30 Manual for more details manufact svi A filethat associates a PRN number with a satellite type Block II Block IIA etc for purposes of determining the center of mass of the satellite It assists in single point processing This file should not be modified manufact cim Provides a set of default conversion parameters for various IMU raw data formats This file is accessed during the conversion from raw data to IMR format See Chapter 2 on Page 35 for details manufact imu Contains the error profile parameters for various types of IMUs The values associated with each model have been empirically derived by the Waypoint Products Group staff based solely on the data sets they have encountered manufact dcb List of the differential code biases in nanoseconds between the P1 and C A code for each satellite Used by PPP 1 12 About Inertial Explorer This window displays information about the software version build dates copyright information hardware lock key information and DLL information Access the hardware key utility from this window by clicking Key Util Upgrade This tool is useful for upgrades The Dependent Files window displays a list of executables and DLLs associated with Inertial Explorer The date and time of the files are shown as well as a quick description of the file Click Download latest manufacturer files to connect to Waypoint s FTP site
76. ssing options menu To perform a static alignment specify the length of time that the IMU was stationary If this is unknown the Velocity Profile plot obtained from the GNSS processing is useful If selected the time used for fine alignment is determined by differencing the Total and Coarse time fields This field does not apply for transfer alignment or for kinematic alignment Initial Position and Velocity The two options include the following Determine from GNSS suggested This method is for collected GNSS data in addition to IMU data The starting position and velocity is read in from the GNSS trajectory specified under the Source of GNSS Updates box in LC processing and in the General tab for TC processing Use entered values IMU only This option is for performing IMU only processing If GNSS data has been processed load the position from a computed trajectory Otherwise enter it manually In either case click the Enter Position and Velocity button to access the input window IMU Time Range These options are in the shaded box Manage GNSS IMU Processing Profiles Current Profile Loaded Displays the profile that is being used To see what each profile s configuration looks like click the Profile Manager button Inertial Explorer 8 40 User Guide Rev 8 19 Chapter 1 Inertial Explorer States Error Model The options available are to the use one of the error models provided or use a custom mod
77. states in arcsec s MISALIGNMENT SD esddev nsddev hsddev A priori Kalman standard deviations for East North Up misalignment states in arc seconds NUM STATES number Number of Kalman filter states Inertial Explorer 8 40 User Guide Rev 8 50 Appendix A POSITION MEAS VAR cov POSITION NOISE sd1 sd2 sd3 POSITION SD esdev nsdev usdev PREDICTION RATE n TIME OFFSET offset TOTAL ALIGNMENT TIME timel time2 VEL MEAS VAR var VELOCITY NOISE sd1 sd2 sd3 VELOCITY SD sdev1 sdev2 sdev3 WRITE BINARY OUTREC ON OFF ZUPT ALIGN INTERVAL interv ZUPT AT name start end ZUPT OPTION num ZUPT TIME time ZUPT VEL TOL tol Inertial Explorer 8 40 User Guide Rev 8 Appendix A Variance R matrix of Kalman CUPT observation in m Spectral density of the coordinate states in m s A priori Kalman standard deviations for E N U coordinate states in metres Kalman filter predictions every n seconds Default is 0 5 Correction in seconds to GPS times in the IMU binary file Default is zero Seconds of coarse fine alignment Note that no fine alignment is performed when total align time coarse align time Variance R matrix of Kalman ZUPT observation in m s Spectral density of the velocity states in m ei A priori Kalman standard deviations for E N U velocity states in metres sec Write binary structure to disk at mechanization rate for FWD REV combination Length of time for a ZUP
78. ta will not process In NovAtel s SPAN system IMU data is automatically synchronized and the Inertial Explorer s GNSS decoder automatically extracts the IMU data This manual assumes the use of the GrafNav GrafNet 8 30 Manual You can request a copy from Customer Service or download it from our Web site at www novatel com 1 2 Getting Started with Inertial Explorer This section provides a step by step procedures on how to process data in Inertial Explorer Installation Verify that the installation was successful by ensuring that you have a Waypoint Inertial Explorer program group on your computer If this program group is not there refer to the GrafNav GrafNet 8 30 Manual for installation instructions Fo BERGE ETEN J OE FIKSES am WAY PINT How to start Inertial Explorer 1 Verify installation 2 Click on Inertial Explorer to start the program BY For NovAtel SPAN be sure that the Extract inertial SPAN data option is enabled in the OEM4 decoding options so that Waypoint s generic IMR raw IMU data file is created automatically Inertial Explorer 8 40 User Guide Rev 8 Chapter 1 Inertial Explorer How to convert IMU data 1 Open the conversion utility via File Convert Raw IMU Data to Waypoint Generic IMR 2 Click the Browse button to locate the raw IMU data file 3 Under the IMU Profiles box select the appropriate IMU type 4 Click Convert to create t
79. that project Continued in the shaded box on the next page 1 3 File Menu Refer to the GrafNav GrafNet 8 30 Manual for information on the features available via this menu The points relevant to Inertial Explorer are discussed in this section of the manual 1 3 1 Project Wizard The Project Wizard offers you a guided step by step way of creating a project These Project Wizard steps are listed in the shaded box Auto Start Auto Start prompts for all the information required to process IMU data This option adds reference and remote stations and allows a project setting that best suits the application New Project 1 3 2 Add Master File s Entering the proper reference station coordinates is essential for obtaining high accuracies The values that appear are averaged from the GPB file and may have errors of 10 metres or more For IGS and CORS stations ARP antenna reference point coordinates are pre loaded in the Favourites Manager Refer to Chapter 2 of the GrafNav GrafNet 8 30 Manual for more information Proper datum selection is very important as well CORS sites are stored in NAD83 and IGS sites in WGS84 WGS84 coordinates are different from NAD83 coordinates by 2 m so care should be taken when using these coordinates Be sure to set the ellipsoidal orthometric height flag correctly 1 3 3 Add Remote File When the adding the remote GNSS data file enter the remote station antenna height
80. the date of invoice NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications b the software will be free from error which materially affect performance and c if applicable as defined in the User s Manual be eligible for access to post contract support and software updates when available THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEOUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE bai Ja D eN Inertial Explorer 8 40 User Guide Rev 8 7 Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to 1 nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of the Products or use in other than a normal and customary manner environmental conditio
81. tial Explorer following the decoding process in IMU Data Converter See Chapter 2 on Page 35 for more details Because it contains vital information for reading and decoding the data the first 512 bytes of the generic IMU data format is a header which must be filled in read and interpreted In a C C structure definition the generic format header has the following fields struct imr header type char szHeader 8 char blisintelOrMotorola double dVersionNumber int bDeltaTheta int bDeltaVelocity double dDataRateHz double dGyroScaleFactor double dAccelScaleFactor int iUtcOrGpsTime SIMURA W 0 NULL terminated ASCII string 0 Intel Little Endian default I Motorola Big Endian swap bytes for IExplorer This can be set for any user who directly writes in our format with a Big Endian processor IExplorer will swap the bytes Program version number i e 8 30 Default is 1 which indicates the data to follow will be delta thetas meaning angular increments i e scale and divide by by dDataRateHz to get degrees second Ifthe flag is set to 0 then the data will be read directly as scaled angular rates Default is 1 which indicates the data to follow will be delta v s meaning velocity increments i e scale and divide by dDataRateHz to get m s If the flag is set to 0 then the data will be read directly as scaled accelerations i e 100 0
82. uide Rev 8 29 Chapter 1 Inertial Explorer 1 6 Settings Menu Refer to Chapter 2 of the GrafNav GrafNet Version 8 30 Manual for information regarding all of the features available via this menu Only those features exclusive to Inertial Explorer are discussed here 1 7 Output Menu Refer to Chapter 2 of the GrafNav GrafNet Version 8 30 Manual for information regarding all of the features available via this menu Only those features exclusive to Inertial Explorer are discussed here 1 7 1 Plot Results Refer to Chapter 2 of the GrafNav GrafNet Version 8 30 Manual for information regarding all of the GNSS plots available here By default the software generates all plots at the GPS update interval You can raise the interval as high as the IMU data rate to get a denser plot but generation takes longer This setting is available under the X axis tab This option requires that you have generated a combined binary file for your trajectory before or after smoothing see Section Solve Boresighting Angles on Page 27 The combined file must be re generated after every processing run to ensure that the plot reflects the latest results Table 1 in the shaded box on this page and the following page contains a description of the IMU plots available only through Inertial Explorer Table 1 IMU Plots Plot Description Accelerometer Bias This is the apparent output in acceleration when there is no input acc
83. ving Processing Files This removes all the files associated with any given project Refer to Chapter 2 of the GrafNav GrafNet Version 8 30 Manual for details of this utility Inertial Explorer capabilities are discussed here Files to Remove Selects files to remove from the project or folder Inertial Processing LC and TC Removes all ASCII and binary files created during IMU processing including message logs and trajectories 4 Choose the IMR file The IMU data must be concurrent with the master and base station and remote data To verify this click the Plot Coverage button to display the File Data Coverage plot The IMU data must be converted to the IMR format before being added to the project 5 Choose the DMR file If any DMI data is available select the Enable DMI data option This data must be collected concurrently with the rest of the data in the project Use the Plot Coverage button to find overlapping DMR data 6 Choose a Processing Profile that best suits the application When in doubt choose either the Factory Defaults or GrafNav Defaults 7 Enter the Master Station Coordinates 8 Enter the Remote Station Antenna Height Inertial Explorer 8 40 User Guide Rev 8 13 Chapter 1 Inertial Explorer 14 View Menu m Source File for GNSS Updates Process INS Only A Update data es combined OX ME Refer to Chapter 2 of the GrafNav GrafNet Version 8 30
84. y axis gyro measurement as anangular increment or angular rate GyroY 4 long scaled Z body axis gyro measurement as anangular increment or angular rate GyroZ 4 long scaled X body axis accel measurement as a velocity increment or acceleration AccelX 4 long scaled Y body axis accel measurement as a velocity increment or acceleration AccelY 4 long scaled Z body axis accel measurement as a velocity increment or acceleration AccelZ 4 long t NovAtel OEM4 OEMV OEM6 Options m General 7 SPAN IMU IV Perform pre processing checks I Re compute position and clock offset I Verbose messaging mode I Create separate file for each MARKNTIME record IV Extract inertial SPAN data if available SPAN Model Automatic S I Show receiver status event wamings I Create trajectory files fsp for supported records GLONASS PRN offset pr use 45 for Topcon L2C phase correction 05 cycles r Distance Measurement Unit DMI Wheel Circumference 1 96 m TT Set tick counts per wheel revolution Ticks per revolution 2000 toks C Static Static Kinematic Mode G Auto Kinematic JAS Feree AG11 AG58 AG17 AG62 39 Inertial Explorer 8 40 User Guide Rev 8 Chapter 3 Data and File Formats 3 2 File Formats 3 2 1 IMR File Waypoint converts all custom IMU raw binary formats into a generic format IMR which is read from Iner
85. yaw values INITIAL ATTITUDES rowfwd pitchfwd azfwd rowrev pitchrev azrev If known input initial roll pitch azimuth degrees for forward and reverse alignment INITIAL INS POSITION latfwd lonfwd htfwd latrev lonrev htrev INS position for forward and reverse processing in DMS DMS m INITIAL POSITION SOURCE source 0 JCMB FWD REV 1 manual entry of position INITIAL VELOCITIES vefwd vnfwd vhfwd verev vnrev vhrev If known input initial East North Up velocities m s for forward and reverse alignment INS BODYFRAME OFFSETS roll pitch yaw Constant angular offsets in degrees from the IMU axes to vehicle body frame axes INS DATAGAP TOL Num consectutive epochs missing Exit on a single data gap that is larger than this number INS FILE NAME filename Name of IMU binary measurement file INS GPS TIME FRAME GPS TIME FRAME RCVR TIME FRAME GPS TIME FRAME i e revr time revr clock bias RCVR TIME FRAME i e nominal rev time INS LOWPASS 0 1 Use 1 for low pass filter on raw data INS PROCESS DIR FORWARD REVERSE FORWARD REVERSE direction INS processing INS PROCESS MODE mode GPS INS or INS ONLY INS TIMERANGE start end Indicates IMU processing time range and whether to process ALL or PARTIAL INS TYPE type LTN90 LRF 3 LN200 HG1700 JAMI IMU GENERIC IMU imr INS VERBOSE ON OFF Writes extra messages to FIL and RIL files MISALIGNMENT NOISE sd1 sd2 sd3 Spectral density of misalignment

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