Inertial Labs INS-P User Manual

INS
GUI User’s Manual
Inertial Labs, Inc
TM
Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com
10
7.2. Restore parameters ................................................................................................ 82
7.3. Save parameters .................................................................................................... 83
7.4. Preset parameters .................................................................................................. 83
8. Plugins Menu ............................................................................................................. 86
8.1. Embedded .............................................................................................................. 86
8.2. Magnetometers field calibration .............................................................................. 88
8.3. Angles accuracy ..................................................................................................... 90
8.4. Magnetometers axes alignment .............................................................................. 94
9. Convert Menu ............................................................................................................ 96
10. The INS operation ...................................................................................................... 98
10.1. The main operation modes of the INS ................................................................. 98
10.2. Control of the GNSS receiver ............................................................................ 101
10.2.1. GNSS correction .............................................................................................. 101
10.2.2. Control of GNSS receiver model ...................................................................... 105
10.2.2.1. Adding new model to the GNSS receiver .................................................. 106
10.2.2.2. Choosing of one of saved models for the GNSS receiver ......................... 106
10.2.2.3. Removing model from the GNSS receiver ................................................ 107
10.3. Features of Altitude calculation in the INS ......................................................... 108
10.4. Calibration of the INS ........................................................................................ 109
10.4.1. Description of the 2D, 2D-2T, 3D and VG3D calibration procedures ............... 111
10.4.2. Clearing of the soft and hard iron calibration parameters ................................ 119
10.4.3. Conditions of successful calibration of the INS ................................................ 120
10.4.4. On-the-fly VG3D calibration ............................................................................. 121
10.5. Orientation accuracy test of the INS .................................................................. 124
10.5.1. Separate accuracy test for each reference angle ............................................ 124
10.5.2. On-the-fly accuracy test ................................................................................... 126
10.6. INS automatic start ............................................................................................ 131
10.7. INS operation with odometer ............................................................................. 133
10.7.1. INS operation with OBDII odometer ................................................................. 133
10.7.2. INS operation with encoder-based odometer (wheel speed sensor) .............. 134
10.7.3. Encoder-based odometer calibration ............................................................... 135
10.8. Operations with CAN data ................................................................................. 137
10.8.1. Review and editing of the existing configuration of the “CAN message set”
format in INS unit ......................................................................................................... 142
10.8.2. “CAN message set” format configuration file (*.ucan) ...................................... 143
10.9. INS and OS3D-FG SAMC axes alignment ........................................................ 144
10.9.1. Description of the axes alignment procedures ................................................. 144
10.9.2. Clearing axes alignment parameters ............................................................... 147
11. Continuous self-monitoring of the INS health ........................................................... 148
12. INS and GNSS data post-processing ....................................................................... 149
12.1. Recording of raw GNSS data ............................................................................ 149
12.2. Raw IMU data generation .................................................................................. 153
12.2.1. Embedding raw IMU data into GNSS stream ................................................... 157
12.3. INS sensors error model for INS + GNSS data post-processing ....................... 158
13. Synchronization of INS data with LiDAR and other devices ..................................... 160

Inertial Labs INS-P Specifications

General

Brand	Inertial Labs
Model	INS-P
Category	Car Navigation system
Language	English