ComNav K Series - INS Mode

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K-series OEM Board User Guide
For dynamic Base --Base
fix none
Interfacemode com2 auto auto on
Interfacemode com3 auto auto on
log com3 rtcmcompassb ontime 1
log com1 gpgga ontime 1
log com1 headingt ontime 1
saveconfig
// Undo fix position mode
//Set com2 in differential mode
//Set com3 in differential mode
//Differential GPS/GLONASS/Beidou corrections
//Output GPGGA message
//Output heading message
// Save configuration
For the rover:
For dynamic Base --Rover
Interfacemode com3 auto auto on
Log com3 rtcmcompass3b ontime 1
log com3 headingp ontime 1
set diffmatchmode synch
rtkrefmode 1
saveconfig
//Set com3 in differential mode
// Differential GPS/GLONASS/Beidou corrections
//Transmit heading message to the dynamic base
//Set RTK in synchronous mode
//Set moving base RTK mode
// Save configuration
4.6 INS mode
The INS (Inertial Navigation System) Mode allows OEM modules to continuously output positioning
information through IMU in a short time when losing satellites signal.
This mode is only valid for K803 and K823 modules which have onboard IMU. It can output INS solution when
RTK can’t reach fixed solution.
The configuration is shown below.
Inscontrol enable
set imuaxestype <axes type>
set rtkfreq 5
set pvtfreq 5
set smootheddr on
saveconfig
//activate INS mode
//Set axes of OEM module
//Set RTK frequency as 5Hz
//Set PVT frequency as 5Hz
//activate the INS smooth mode
// Save configuration
Tips: The INS smooth mode can output INS solution when checking fly points from RTK fixed solution.