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
12
List of Tables
Table 4.1 INS maximum measurement rate for different output data formats ......................... 49
Table 4.2 Groups and data types of the “User Defined Data” .................................................. 59
Table 10.1 Available variants of SBAS data .............................................................................. 102
Table 10.2 Example of the *.csv file created at accuracy test .................................................... 130
Table 10.3. List of supported CAN messages ........................................................................... 140
Table 10.4 Example of rotation angles ...................................................................................... 144
Table 12.1 Logs for raw GNSS data .......................................................................................... 150
Table 12.2 Minimal set of raw GNSS data logs ......................................................................... 150
Table 12.3 Binary Structure of raw IMU data ............................................................................. 154
Table C.1 Structure of the first 50 bytes of *.bin file (short block of initial alignment data) ......... 184
Table C.2 Structure of the first 128 bytes of *.bin file at extended block of initial alignment
data ....................................................................................................................................... 185
Table C.3 The INS message payload at the “INS OPVT” (Orientation, Position, Velocity,
Time) data format .................................................................................................................. 186
Table C.4 GNSS_info1 – information about GNSS data ............................................................ 187
Table C.5 GNSS_info2 – information about GNSS data ............................................................ 188
Table C.6 New_GPS indicator of new update of GNSS data .................................................... 188
Table C.7 The INS message payload at the “INS QPVT” (Quaternion of orientation,
Position, Velocity, Time) data format ..................................................................................... 189
Table C.8 The INS message payload at the “INS OPVT2A” (Orientation, Position,
Velocity, Time, Dual-antenna receiver data) format .............................................................. 191
Table C.9 The INS message payload at the “INS OPVT2AW” (Orientation, Position,
Velocity, Time, Dual-antenna receiver data, GPS Week) format ........................................... 193
Table C.10 The INS message payload at the “INS OPVT2Ahr” (Orientation, Position,
Velocity, Time, Dual-antenna receiver data, with high resolution) data format ...................... 195
Table C.11 The INS message payload at the “INS OPVTAD” data format ................................ 197
Table C.12 New aiding data indicator ........................................................................................ 199
Table C.13 The message payload at the “INS Sensors Data” format ........................................ 200
Table C.14 sol_stat – GNSS solution status .............................................................................. 202
Table C.15 pos_type – GNSS position or velocity type ............................................................. 202
Table C.16 ext_sol_stat – GNSS extended solution status ....................................................... 203
Table C.17 GPS and GLONASS signal-used mask .................................................................. 203
Table C.18 Galileo and BeiDou signal-used mask .................................................................... 203
Table C.19 The message payload at the “INS Minimal Data” format ......................................... 204
Table C.20 The message payload at the “INS OPVT & Raw IMU Data” format ........................ 204
Table C.21 The “SPAN rawimu” message structure .................................................................. 206
Table C.22 GPS Reference Time Status ................................................................................... 207
Table C.23 GNSS Receiver Status ............................................................................................ 207
Table C.24 IMU Status .............................................................................................................. 208
Table C.25 The INS message payload at the “INS OPVT GNSSext” data format ..................... 208
Table C.26 Payload of the “User Defined Data” ....................................................................... 211
Table C.27 Detailed description of “User Defined Data” structure ............................................. 211
Table C.28 INS solution status (data type # 0x54) .................................................................... 216
Table C.29. Structure of the “Cobham UAV 200 Satcom” sentence .......................................... 218

Inertial Labs INS-P Specifications

General

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