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
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example, usually bad places for the calibration are office room, laboratory
with large quantity of computers and other electronics equipment, road with
underground communications or pipelines, place near electric mains, etc.
But even in bad magnetic environment the calibration can be successful if
the INS rotates around its magnetometers (around the point about 15 mm
away from the INS forward end). In this case influence of non-uniformity of
environmental magnetic field is minimal.
Finally, please remember that if the carrier object is changed or if place of
the INS mounting on the carrier object is changed, then the new calibration
should be performed. If the INS will be used alone without mounting on any
object then calibration results should be cleared by clicking on the “Clear”
button (see Fig. 8.3).
10.4.4. On-the-fly VG3D calibration
Since INS firmware version 2.6.2.2 it is possible to perform on-the-fly VG3D
calibration. This calibration is good for airplanes including UAV. Airplane
should perform at least two full 360 coordinated turns (on the right and on
the left) with maximum roll angles.
To start VG3D calibration during the operation of the INS please click button
on the “INS visualization” tab (see Fig. 10.18).
After that the carrier object with INS unit should be rotated in full azimuth
range and maximum possible pitch and roll ranges. For example, airplane
should perform at least two full 360 coordinated turns (on the right and on
the left) with maximum roll angle. INS accumulates data for the calibration
and caption “OFC is started” appears in the right bottom part of the window
under “Mode” header (OFC is abbreviation of the On-the-Fly Calibration).
To stop calibration after completing of the rotations please click on the
pressed button (see Fig. 10.19). INS calculates hard and soft iron
calibration parameters. If calibration is successful then the caption “OFC is
done” appears in the right bottom part of the window under “Mode” header.
Also red capture “Soft/hard iron corrected” appears in this part of window.
Then the INS algorithm starts using the calculated parameters of the
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